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提交 2cd16968475ea3dcfe072b33f7b299f165213452 2 个父辈 6f7ce326 2bdfedd4

合并分支 'dev' 到 'master' 

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@@ -26,4 +26,7 @@ project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/* @@ -26,4 +26,7 @@ project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/*
26 !project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/hal 26 !project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/hal
27 !project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/CMakeLists.txt 27 !project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/CMakeLists.txt
28 28
  29 +project_build/Payload-SDK-release-v3.11.0/*
  30 +
  31 +
29 project_build/Attention_提示程序 32 project_build/Attention_提示程序
@@ -132,7 +132,8 @@ @@ -132,7 +132,8 @@
132 "dji_sdk_config.h": "c", 132 "dji_sdk_config.h": "c",
133 "hal_uart.h": "c", 133 "hal_uart.h": "c",
134 "jzsdkbase.h": "c", 134 "jzsdkbase.h": "c",
135 - "dji_logger.h": "c" 135 + "dji_logger.h": "c",
  136 + "dji_platform.h": "c"
136 }, 137 },
137 "Codegeex.GenerationPreference": "automatic", 138 "Codegeex.GenerationPreference": "automatic",
138 "C_Cpp.dimInactiveRegions": false 139 "C_Cpp.dimInactiveRegions": false
1 # 编译链的配置 1 # 编译链的配置
2 2
3 #1、编译链与设备类型的选择 3 #1、编译链与设备类型的选择
4 -set(DEVICE_NAME JZ_U30) 4 +set(DEVICE_NAME JZ_H10)
5 #上一行为禁止修改行 5 #上一行为禁止修改行
6 6
7 message("**************************JZSDK构建编译开始***************************\n") 7 message("**************************JZSDK构建编译开始***************************\n")
@@ -40,15 +40,15 @@ if(${MAKE_COMPILER} STREQUAL "ARM_CORTEXA9_LINUX") @@ -40,15 +40,15 @@ if(${MAKE_COMPILER} STREQUAL "ARM_CORTEXA9_LINUX")
40 40
41 elseif(${MAKE_COMPILER} STREQUAL "ARM_CORTEX_LINUX") 41 elseif(${MAKE_COMPILER} STREQUAL "ARM_CORTEX_LINUX")
42 set(TOOLCHAIN_NAME arm-linux-gnueabihf-gcc) 42 set(TOOLCHAIN_NAME arm-linux-gnueabihf-gcc)
43 - set(CMAKE_C_COMPILER "/opt/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc")  
44 - set(CMAKE_CXX_COMPILER "/opt/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-g++") 43 + set(CMAKE_C_COMPILER "/usr/local/arm/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc")
  44 + set(CMAKE_CXX_COMPILER "/usr/local/arm/gcc-linaro-6.3.1-2017.05-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-g++")
45 message("使用ARM_CORTEX_LINUX编译链") 45 message("使用ARM_CORTEX_LINUX编译链")
46 46
47 elseif(${MAKE_COMPILER} STREQUAL "ARM_X86_64_ARRCH64") 47 elseif(${MAKE_COMPILER} STREQUAL "ARM_X86_64_ARRCH64")
48 # 交叉编译链3 48 # 交叉编译链3
49 set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc) 49 set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
50 - set(CMAKE_C_COMPILER "/opt/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu-gcc")  
51 - set(CMAKE_CXX_COMPILER "/opt/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu-g++") 50 + set(CMAKE_C_COMPILER "/usr/local/arm/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu-gcc")
  51 + set(CMAKE_CXX_COMPILER "/usr/local/arm/gcc-arm-10.3-2021.07-x86_64-aarch64-none-linux-gnu/bin/aarch64-none-linux-gnu-g++")
52 message("使用ARM_X86_64_ARRCH64编译链") 52 message("使用ARM_X86_64_ARRCH64编译链")
53 53
54 elseif(${MAKE_COMPILER} STREQUAL "LOCAL") 54 elseif(${MAKE_COMPILER} STREQUAL "LOCAL")
@@ -143,6 +143,7 @@ typedef enum { @@ -143,6 +143,7 @@ typedef enum {
143 143
144 144
145 JZ_INSCODE_5AFRAME_LASER_CONTROL = 0x10000C00, //激光控制 145 JZ_INSCODE_5AFRAME_LASER_CONTROL = 0x10000C00, //激光控制
  146 + JZ_INSCODE_5AFRAME_LASER_MODE = 0x10000C01, //激光模式
146 147
147 JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL = 0x10000E00, //探照灯开光 148 JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL = 0x10000E00, //探照灯开光
148 JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN = 0x10000E10, //设置探照灯亮度 149 JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN = 0x10000E10, //设置探照灯亮度
@@ -221,10 +222,11 @@ typedef enum { @@ -221,10 +222,11 @@ typedef enum {
221 222
222 223
223 JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE = 0x10004600, //查询探照灯温度 224 JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE = 0x10004600, //查询探照灯温度
224 - JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS = 0x10004601, //查询激光状态  
225 - JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY = 0x10004602, //查询探照灯频率  
226 - JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE = 0x10004603, //查询探照灯模式  
227 - JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN = 0x10004604, //查询探照灯流明 225 + JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_CONTROL = 0x10004601, //查询激光状态_控制
  226 + JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_MODE = 0x10004602, //查询激光状态_模式
  227 + JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY = 0x10004610, //查询探照灯频率
  228 + JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE = 0x10004611, //查询探照灯模式
  229 + JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN = 0x10004612, //查询探照灯流明
228 230
229 JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS = 0x10004700, //警示灯模式控制 231 JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS = 0x10004700, //警示灯模式控制
230 JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR = 0x10004701, //警示灯颜色控制 232 JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR = 0x10004701, //警示灯颜色控制
@@ -270,7 +270,7 @@ static int Comparison_5AFRAME_FirstLevelCode_0x55(char *getdata) @@ -270,7 +270,7 @@ static int Comparison_5AFRAME_FirstLevelCode_0x55(char *getdata)
270 270
271 //设置循环播放间隔 271 //设置循环播放间隔
272 case 0x01: 272 case 0x01:
273 - return JZ_INSCODE_5AFRAME_CHECKSTATUS_ADUIO_LOOP_INTERVAL; 273 + return JZ_INSCODE_5AFRAME_ADUIO_PLAY_LOOP_INTERVAL;
274 break; 274 break;
275 275
276 default: 276 default:
@@ -441,6 +441,10 @@ static int Comparison_5AFRAME_FirstLevelCode_0x60(char *getdata) @@ -441,6 +441,10 @@ static int Comparison_5AFRAME_FirstLevelCode_0x60(char *getdata)
441 return JZ_INSCODE_5AFRAME_LASER_CONTROL; 441 return JZ_INSCODE_5AFRAME_LASER_CONTROL;
442 break; 442 break;
443 443
  444 + case 0x52:
  445 + return JZ_INSCODE_5AFRAME_LASER_MODE;
  446 + break;
  447 +
444 default: 448 default:
445 return JZ_ERROR_SYSTEM_FRAME_ERROR; 449 return JZ_ERROR_SYSTEM_FRAME_ERROR;
446 break; 450 break;
@@ -599,7 +603,7 @@ static int Comparison_5AFRAME_FirstLevelCode_0x6F(char *getdata) @@ -599,7 +603,7 @@ static int Comparison_5AFRAME_FirstLevelCode_0x6F(char *getdata)
599 603
600 //激光查询 604 //激光查询
601 case 0x53: 605 case 0x53:
602 - return JZ_ERROR_SYSTEM_FRAME_ERROR; 606 + return JZ_INSCODE_5AFRAME_CHECKSTATUS_LASER_STATUS;
603 break; 607 break;
604 608
605 //云台角度查询 609 //云台角度查询
@@ -196,7 +196,11 @@ static int Comparison_5BFRAME_FirstLevelCode_0x60(char *getdata) @@ -196,7 +196,11 @@ static int Comparison_5BFRAME_FirstLevelCode_0x60(char *getdata)
196 { 196 {
197 //回复激光查询 197 //回复激光查询
198 case 0x51: 198 case 0x51:
199 - return JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS; 199 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_CONTROL;
  200 + break;
  201 +
  202 + case 0x52:
  203 + return JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_MODE;
200 break; 204 break;
201 205
202 default: 206 default:
@@ -488,6 +488,22 @@ int JZsdk_GetFrameTemplate(int InsCode ,char *str, int *str_len) @@ -488,6 +488,22 @@ int JZsdk_GetFrameTemplate(int InsCode ,char *str, int *str_len)
488 } 488 }
489 break; 489 break;
490 490
  491 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_CONTROL:
  492 + {
  493 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x60, 0x51, 0x00, 0x00, 0x00, 0x23};
  494 + memcpy(str, sendbuf, 13);
  495 + *str_len = 13;
  496 + }
  497 + break;
  498 +
  499 + case JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_MODE:
  500 + {
  501 + char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x60, 0x52, 0x00, 0x00, 0x00, 0x23};
  502 + memcpy(str, sendbuf, 13);
  503 + *str_len = 13;
  504 + }
  505 + break;
  506 +
491 case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY: 507 case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY:
492 { 508 {
493 char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x61, 0x51, 0x00, 0x00, 0x00, 0x23}; 509 char sendbuf[13] = { 0x5b, 0x5b, 0x77, 0x00, 0x0D, 0x00, 0x00, 0x61, 0x51, 0x00, 0x00, 0x00, 0x23};
@@ -71,6 +71,7 @@ typedef struct T_JZC1_info @@ -71,6 +71,7 @@ typedef struct T_JZC1_info
71 #define JZ_C1_IRC_HEIGHT 256 71 #define JZ_C1_IRC_HEIGHT 256
72 #define JZ_C1_IRC_FRAMERATE 30 72 #define JZ_C1_IRC_FRAMERATE 30
73 #define JZ_C1_IRC_INDEX VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST 73 #define JZ_C1_IRC_INDEX VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST
  74 +#define JZ_C1_IRC_BPS 4000000
74 75
75 #define JZ_C1_OPT_WIDTH 1920 76 #define JZ_C1_OPT_WIDTH 1920
76 #define JZ_C1_OPT_HEIGHT 1080 77 #define JZ_C1_OPT_HEIGHT 1080
@@ -78,11 +79,13 @@ typedef struct T_JZC1_info @@ -78,11 +79,13 @@ typedef struct T_JZC1_info
78 #define JZ_C1_OPT_INDEX VIDEOMGMT_STREAMING_FLOW_INDEX_SECOND 79 #define JZ_C1_OPT_INDEX VIDEOMGMT_STREAMING_FLOW_INDEX_SECOND
79 #define JZ_C1_OPT_DEV_PATH ("/dev/video21") 80 #define JZ_C1_OPT_DEV_PATH ("/dev/video21")
80 #define JZ_C1_OPT_PIXEL V4L2_PIX_FMT_MJPEG 81 #define JZ_C1_OPT_PIXEL V4L2_PIX_FMT_MJPEG
  82 +#define JZ_C1_OPT_BPS 4000000
81 83
82 #define JZ_C1_FUSE_WIDTH 1920 84 #define JZ_C1_FUSE_WIDTH 1920
83 #define JZ_C1_FUSE_HEIGHT 1080 85 #define JZ_C1_FUSE_HEIGHT 1080
84 -#define JZ_C1_FUSE_FRAMERATE 30 86 +#define JZ_C1_FUSE_FRAMERATE 25
85 #define JZ_C1_FUSE_INDEX VIDEOMGMT_STREAMING_FLOW_INDEX_THIRD 87 #define JZ_C1_FUSE_INDEX VIDEOMGMT_STREAMING_FLOW_INDEX_THIRD
  88 +#define JZ_C1_FUSE_BPS 3000000
86 89
87 static unsigned char *g_MixedIrc_Buffer = NULL; 90 static unsigned char *g_MixedIrc_Buffer = NULL;
88 static unsigned char *g_MixedOpt_Buffer = NULL; 91 static unsigned char *g_MixedOpt_Buffer = NULL;
@@ -1168,6 +1171,7 @@ T_JZsdkReturnCode JZC1_Init(int mode) @@ -1168,6 +1171,7 @@ T_JZsdkReturnCode JZC1_Init(int mode)
1168 g_JZC1_info.IRC_enc_info->height = JZ_C1_IRC_HEIGHT; 1171 g_JZC1_info.IRC_enc_info->height = JZ_C1_IRC_HEIGHT;
1169 g_JZC1_info.IRC_enc_info->FrameNum = JZ_C1_IRC_FRAMERATE; 1172 g_JZC1_info.IRC_enc_info->FrameNum = JZ_C1_IRC_FRAMERATE;
1170 g_JZC1_info.IRC_enc_info->IDR_gop = 5; 1173 g_JZC1_info.IRC_enc_info->IDR_gop = 5;
  1174 + g_JZC1_info.IRC_enc_info->bps_target = JZ_C1_IRC_BPS;
1171 1175
1172 g_JZC1_info.IRC_enc_info->hor_stride = JZ_ALIGN(g_JZC1_info.IRC_enc_info->width, 16); 1176 g_JZC1_info.IRC_enc_info->hor_stride = JZ_ALIGN(g_JZC1_info.IRC_enc_info->width, 16);
1173 g_JZC1_info.IRC_enc_info->ver_stride = JZ_ALIGN(g_JZC1_info.IRC_enc_info->height, 16); 1177 g_JZC1_info.IRC_enc_info->ver_stride = JZ_ALIGN(g_JZC1_info.IRC_enc_info->height, 16);
@@ -1204,6 +1208,7 @@ T_JZsdkReturnCode JZC1_Init(int mode) @@ -1204,6 +1208,7 @@ T_JZsdkReturnCode JZC1_Init(int mode)
1204 g_JZC1_info.Opt_enc_info->height = JZ_C1_OPT_HEIGHT; 1208 g_JZC1_info.Opt_enc_info->height = JZ_C1_OPT_HEIGHT;
1205 g_JZC1_info.Opt_enc_info->FrameNum = JZ_C1_OPT_FRAMERATE; 1209 g_JZC1_info.Opt_enc_info->FrameNum = JZ_C1_OPT_FRAMERATE;
1206 g_JZC1_info.Opt_enc_info->IDR_gop = 15; 1210 g_JZC1_info.Opt_enc_info->IDR_gop = 15;
  1211 + g_JZC1_info.Opt_enc_info->bps_target = JZ_C1_OPT_BPS;
1207 1212
1208 g_JZC1_info.Opt_enc_info->hor_stride = JZ_ALIGN(g_JZC1_info.Opt_enc_info->width, 16); 1213 g_JZC1_info.Opt_enc_info->hor_stride = JZ_ALIGN(g_JZC1_info.Opt_enc_info->width, 16);
1209 g_JZC1_info.Opt_enc_info->ver_stride = JZ_ALIGN(g_JZC1_info.Opt_enc_info->height, 16); 1214 g_JZC1_info.Opt_enc_info->ver_stride = JZ_ALIGN(g_JZC1_info.Opt_enc_info->height, 16);
@@ -1223,6 +1228,7 @@ T_JZsdkReturnCode JZC1_Init(int mode) @@ -1223,6 +1228,7 @@ T_JZsdkReturnCode JZC1_Init(int mode)
1223 g_JZC1_info.Fuse_enc_info->height = JZ_C1_FUSE_HEIGHT; 1228 g_JZC1_info.Fuse_enc_info->height = JZ_C1_FUSE_HEIGHT;
1224 g_JZC1_info.Fuse_enc_info->FrameNum = JZ_C1_FUSE_FRAMERATE; 1229 g_JZC1_info.Fuse_enc_info->FrameNum = JZ_C1_FUSE_FRAMERATE;
1225 g_JZC1_info.Fuse_enc_info->IDR_gop = 15; 1230 g_JZC1_info.Fuse_enc_info->IDR_gop = 15;
  1231 + g_JZC1_info.Fuse_enc_info->bps_target = JZ_C1_FUSE_BPS;
1226 1232
1227 g_JZC1_info.Fuse_enc_info->hor_stride = JZ_ALIGN(g_JZC1_info.Fuse_enc_info->width, 16); 1233 g_JZC1_info.Fuse_enc_info->hor_stride = JZ_ALIGN(g_JZC1_info.Fuse_enc_info->width, 16);
1228 g_JZC1_info.Fuse_enc_info->ver_stride = JZ_ALIGN(g_JZC1_info.Fuse_enc_info->height, 16); 1234 g_JZC1_info.Fuse_enc_info->ver_stride = JZ_ALIGN(g_JZC1_info.Fuse_enc_info->height, 16);
@@ -1270,7 +1276,8 @@ T_JZsdkReturnCode JZC1_Init(int mode) @@ -1270,7 +1276,8 @@ T_JZsdkReturnCode JZC1_Init(int mode)
1270 } 1276 }
1271 1277
1272 //默认推送红外摄像头 后续改成 红外+光学 的组合画面 1278 //默认推送红外摄像头 后续改成 红外+光学 的组合画面
1273 - VideoMgmt_VideoStreamFlowIndex(JZ_C1_FUSE_INDEX); 1279 + //VideoMgmt_VideoStreamFlowIndex(JZ_C1_FUSE_INDEX);
  1280 + VideoMgmt_VideoStreamFlowIndex(JZ_C1_IRC_INDEX);
1274 1281
1275 //设置快门为开 1282 //设置快门为开
1276 JZsdk_Camera_ShutterSwitch(JZ_FLAGCODE_ON); 1283 JZsdk_Camera_ShutterSwitch(JZ_FLAGCODE_ON);
@@ -7,18 +7,18 @@ @@ -7,18 +7,18 @@
7 #define VERSION_CHOOSE_H 7 #define VERSION_CHOOSE_H
8 #include "JZsdk_Base/JZsdk_Code/JZsdk_DeviceCode.h" 8 #include "JZsdk_Base/JZsdk_Code/JZsdk_DeviceCode.h"
9 //1~10行 除了D可以修改版本选择 禁止动任何东西 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_U30 10 +#define DEVICE_VERSION JZ_H10
11 11
12 //禁止修改行 选择是串口程序 还是 psdk程序 12 //禁止修改行 选择是串口程序 还是 psdk程序
13 #define APP_VERSION APP_PSDK 13 #define APP_VERSION APP_PSDK
14 14
15 //禁止修改行 板子型号 15 //禁止修改行 板子型号
16 -#define PLATFORM_VERSION PLATFORM_V3S 16 +#define PLATFORM_VERSION PLATFORM_H3
17 17
18 //禁止修改行 串口连接程序的软件版本号 18 //禁止修改行 串口连接程序的软件版本号
19 #define MAJOR_VERSION 0x01 19 #define MAJOR_VERSION 0x01
20 #define MINOR_VERSION 0x03 20 #define MINOR_VERSION 0x03
21 -#define MODIFY_VERSION 0x10 21 +#define MODIFY_VERSION 0x11
22 #define DEBUG_VERSION 0x00 22 #define DEBUG_VERSION 0x00
23 23
24 //禁止修改行 滤波方式 24 //禁止修改行 滤波方式
@@ -27,6 +27,10 @@ @@ -27,6 +27,10 @@
27 #include "Megaphone/PcmAudio/PcmAudioFile.h" 27 #include "Megaphone/PcmAudio/PcmAudioFile.h"
28 #endif 28 #endif
29 29
  30 +#ifdef SIDE_LASER_STATUS_ON
  31 + #include "SideLaser/SideLaser.h"
  32 +#endif
  33 +
30 #ifdef AUDIODEAL_CONFIG_STATUS_ON 34 #ifdef AUDIODEAL_CONFIG_STATUS_ON
31 #include "AudioDeal/AudioDeal.h" 35 #include "AudioDeal/AudioDeal.h"
32 #endif 36 #endif
@@ -1287,7 +1291,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_volume(int Port, char *getbuf) @@ -1287,7 +1291,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_volume(int Port, char *getbuf)
1287 //HalSend_type1Send_Reply_Success(Port, FrameSequence); 1291 //HalSend_type1Send_Reply_Success(Port, FrameSequence);
1288 1292
1289 //2、发送音量 1293 //2、发送音量
1290 - HalSend_type1Send_Reply_Volume(Port, volume); 1294 + HalSend_type1Send_Reply_Volume(Port, FrameSequence, volume);
1291 1295
1292 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 1296 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
1293 } 1297 }
@@ -1315,7 +1319,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_play(int Port, char *getbuf) @@ -1315,7 +1319,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_play(int Port, char *getbuf)
1315 //HalSend_type1Send_Reply_Success(Port, FrameSequence); 1319 //HalSend_type1Send_Reply_Success(Port, FrameSequence);
1316 1320
1317 //2、发送播放状态 1321 //2、发送播放状态
1318 - HalSend_type1Send_Send_PlayStatus(Port, status); 1322 + HalSend_type1Send_Send_PlayStatus(Port, FrameSequence, status);
1319 1323
1320 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 1324 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
1321 } 1325 }
@@ -1342,7 +1346,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_gimbal(int Port, char *getbuf) @@ -1342,7 +1346,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_gimbal(int Port, char *getbuf)
1342 UIcontrol_CheckStatus_GimbalAngle(&PitchAngle, &YawAngle); 1346 UIcontrol_CheckStatus_GimbalAngle(&PitchAngle, &YawAngle);
1343 1347
1344 //2、发送本地云台值 1348 //2、发送本地云台值
1345 - HalSend_type1Send_Reply_GimbalPitchAngle(Port, PitchAngle); 1349 + HalSend_type1Send_Reply_GimbalPitchAngle(Port, FrameSequence, PitchAngle);
1346 1350
1347 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 1351 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
1348 } 1352 }
@@ -1402,7 +1406,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_PLayFileName(int Port, char *getbu @@ -1402,7 +1406,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_PLayFileName(int Port, char *getbu
1402 JZSDK_LOG_INFO("当前播放的是%s %d\n",MusicName, MusicName_Len); 1406 JZSDK_LOG_INFO("当前播放的是%s %d\n",MusicName, MusicName_Len);
1403 1407
1404 //2、发送名字 1408 //2、发送名字
1405 - HalSend_type1Send_Reply_MusicName(Port, MusicName,MusicName_Len); 1409 + HalSend_type1Send_Reply_MusicName(Port, FrameSequence, MusicName,MusicName_Len);
1406 } 1410 }
1407 else 1411 else
1408 { 1412 {
@@ -1441,7 +1445,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_SoftwareVersion(int Port, char *ge @@ -1441,7 +1445,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_SoftwareVersion(int Port, char *ge
1441 JZSDK_LOG_INFO("当前的软件版本号为:%2x, %2x, %2x, %2x",majorVersion, MinjorVersion, modifyVersion, debugVersion); 1445 JZSDK_LOG_INFO("当前的软件版本号为:%2x, %2x, %2x, %2x",majorVersion, MinjorVersion, modifyVersion, debugVersion);
1442 1446
1443 //2、发送版本号 1447 //2、发送版本号
1444 - HalSend_type1Send_Reply_SoftVersion(Port, majorVersion, MinjorVersion, modifyVersion, debugVersion); 1448 + HalSend_type1Send_Reply_SoftVersion(Port, FrameSequence, majorVersion, MinjorVersion, modifyVersion, debugVersion);
1445 1449
1446 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 1450 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
1447 } 1451 }
@@ -1478,7 +1482,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_LoopPlay(int Port, char *getbuf) @@ -1478,7 +1482,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_LoopPlay(int Port, char *getbuf)
1478 } 1482 }
1479 1483
1480 //2、发送循环状态 1484 //2、发送循环状态
1481 - HalSend_type1Send_Reply_LoopPlayStatus(Port ,LoopStatus); 1485 + HalSend_type1Send_Reply_LoopPlayStatus(Port, FrameSequence, LoopStatus);
1482 1486
1483 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 1487 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
1484 } 1488 }
@@ -1518,7 +1522,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_TTS_tone(int Port, char *getbuf) @@ -1518,7 +1522,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_TTS_tone(int Port, char *getbuf)
1518 //HalSend_type1Send_Reply_Success(Port, FrameSequence); 1522 //HalSend_type1Send_Reply_Success(Port, FrameSequence);
1519 1523
1520 //2、发送音色 1524 //2、发送音色
1521 - HalSend_type1Send_Reply_TTS_tone(Port ,TTS_tone); 1525 + HalSend_type1Send_Reply_TTS_tone(Port, FrameSequence,TTS_tone);
1522 1526
1523 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 1527 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
1524 } 1528 }
@@ -1555,7 +1559,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_TTS_speed(int Port, char *getbuf) @@ -1555,7 +1559,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_TTS_speed(int Port, char *getbuf)
1555 } 1559 }
1556 1560
1557 //2、发送语速 1561 //2、发送语速
1558 - HalSend_type1Send_Reply_TTS_speed(Port ,TTS_speed); 1562 + HalSend_type1Send_Reply_TTS_speed(Port, FrameSequence, TTS_speed);
1559 1563
1560 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 1564 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
1561 } 1565 }
@@ -2125,7 +2129,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_CurrentPlayTime(int Port, char *ge @@ -2125,7 +2129,7 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_CurrentPlayTime(int Port, char *ge
2125 #ifdef MEGAPHONE_CONFIG_STATUS_ON 2129 #ifdef MEGAPHONE_CONFIG_STATUS_ON
2126 2130
2127 int mode = Megaphone_PlayBackGetMode(Port); 2131 int mode = Megaphone_PlayBackGetMode(Port);
2128 - HalSend_type1Send_Reply_CurrentPlayTimeStatus(Port, mode); 2132 + HalSend_type1Send_Reply_CurrentPlayTimeStatus(Port, FrameSequence, mode);
2129 2133
2130 #endif 2134 #endif
2131 2135
@@ -3042,6 +3046,100 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_SearchLightTemperture(int Port, ch @@ -3042,6 +3046,100 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_SearchLightTemperture(int Port, ch
3042 3046
3043 /********* 3047 /*********
3044 * 3048 *
  3049 + * 激光控制
  3050 + *
  3051 +**********/
  3052 +static T_JZsdkReturnCode RecvDeal_Laser_Control(int Port, char *getbuf)
  3053 +{
  3054 + JZSDK_LOG_INFO("%s,激光控制",JZsdk_DefineCode_GetPortName(Port));
  3055 +
  3056 + //1、获取帧的序列号
  3057 + int FrameSequence = JZsdk_Get_FrameSequence(getbuf);
  3058 +
  3059 + //2、获取激光控制值
  3060 + int LaserControl = getbuf[10];
  3061 + T_JZsdkReturnCode ReturnCode = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  3062 +
  3063 +
  3064 + ReturnCode = UIcontrol_SideLaser_SetControl(Port, LaserControl);
  3065 + if (ReturnCode == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  3066 + {
  3067 + //回复操作成功
  3068 + HalSend_type1Send_Reply_Success(Port, FrameSequence);
  3069 + }
  3070 + else
  3071 + {
  3072 + //回复操作失败
  3073 + HalSend_type1Send_Reply_Failure(Port, FrameSequence);
  3074 + }
  3075 +
  3076 + return ReturnCode;
  3077 +}
  3078 +
  3079 +/*********
  3080 + *
  3081 + * 激光模式控制
  3082 + *
  3083 +**********/
  3084 +static T_JZsdkReturnCode RecvDeal_Laser_Mode(int Port, char *getbuf)
  3085 +{
  3086 + JZSDK_LOG_INFO("%s,激光模式控制",JZsdk_DefineCode_GetPortName(Port));
  3087 +
  3088 + //1、获取帧的序列号
  3089 + int FrameSequence = JZsdk_Get_FrameSequence(getbuf);
  3090 +
  3091 + //2、获取激光控制值
  3092 + int mode = getbuf[10];
  3093 + T_JZsdkReturnCode ReturnCode = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  3094 +
  3095 + ReturnCode = UIcontrol_SideLaser_SetMode(Port, mode);
  3096 + if (ReturnCode == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  3097 + {
  3098 + //回复操作成功
  3099 + HalSend_type1Send_Reply_Success(Port, FrameSequence);
  3100 + }
  3101 + else
  3102 + {
  3103 + //回复操作失败
  3104 + HalSend_type1Send_Reply_Failure(Port, FrameSequence);
  3105 + }
  3106 +
  3107 + return ReturnCode;
  3108 +}
  3109 +
  3110 +/*********
  3111 + *
  3112 + * 激光状态查询
  3113 + *
  3114 +**********/
  3115 +static T_JZsdkReturnCode RecvDeal_CheckStatus_LaserStatus(int Port, char *getbuf)
  3116 +{
  3117 + JZSDK_LOG_INFO("%s,激光状态查询",JZsdk_DefineCode_GetPortName(Port));
  3118 +
  3119 + //1、获取帧的序列号
  3120 + int FrameSequence = JZsdk_Get_FrameSequence(getbuf);
  3121 +
  3122 + //2、查询激光状态
  3123 + int LaserControl = JZ_FLAGCODE_OFF;
  3124 + int LaserMode = 0;
  3125 + T_JZsdkReturnCode ReturnCode = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  3126 +
  3127 +#ifdef SIDE_LASER_STATUS_ON
  3128 +
  3129 + ReturnCode = SideLaser_param(JZ_FLAGCODE_GET, SIDELASER_MODE, &LaserMode);
  3130 + ReturnCode = SideLaser_param(JZ_FLAGCODE_GET, SIDELASER_CONTROL, &LaserControl);
  3131 +
  3132 +#endif
  3133 +
  3134 + // 2、回复激光状态
  3135 + HalSend_type1Send_LaserControl(Port, LaserControl);
  3136 + HalSend_type1Send_LaserMode(Port, LaserMode);
  3137 +
  3138 + return ReturnCode;
  3139 +}
  3140 +
  3141 +/*********
  3142 + *
3045 * 消息订阅控制 3143 * 消息订阅控制
3046 * 3144 *
3047 **********/ 3145 **********/
@@ -4902,7 +5000,7 @@ static T_JZsdkReturnCode RecvDeal_InstructInput(int Port, int Receive_mode, unsi @@ -4902,7 +5000,7 @@ static T_JZsdkReturnCode RecvDeal_InstructInput(int Port, int Receive_mode, unsi
4902 break; 5000 break;
4903 5001
4904 //设置循环间隔 5002 //设置循环间隔
4905 - case JZ_INSCODE_5AFRAME_CHECKSTATUS_ADUIO_LOOP_INTERVAL: 5003 + case JZ_INSCODE_5AFRAME_ADUIO_PLAY_LOOP_INTERVAL:
4906 RecvDeal_PlayLoopInterval(Port,getbuf); 5004 RecvDeal_PlayLoopInterval(Port,getbuf);
4907 return 0; 5005 return 0;
4908 break; 5006 break;
@@ -5093,8 +5191,21 @@ static T_JZsdkReturnCode RecvDeal_InstructInput(int Port, int Receive_mode, unsi @@ -5093,8 +5191,21 @@ static T_JZsdkReturnCode RecvDeal_InstructInput(int Port, int Receive_mode, unsi
5093 case JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE: 5191 case JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE:
5094 RecvDeal_CheckStatus_SearchLightTemperture(Port,getbuf); 5192 RecvDeal_CheckStatus_SearchLightTemperture(Port,getbuf);
5095 break; 5193 break;
5096 - //激光查询  
5097 5194
  5195 + //激光控制
  5196 + case JZ_INSCODE_5AFRAME_LASER_CONTROL:
  5197 + RecvDeal_Laser_Control(Port,getbuf);
  5198 + break;
  5199 +
  5200 + //激光模式
  5201 + case JZ_INSCODE_5AFRAME_LASER_MODE:
  5202 + RecvDeal_Laser_Mode(Port,getbuf);
  5203 + break;
  5204 +
  5205 + //激光查询
  5206 + case JZ_INSCODE_5AFRAME_CHECKSTATUS_LASER_STATUS:
  5207 + RecvDeal_CheckStatus_LaserStatus(Port,getbuf);
  5208 + break;
5098 5209
5099 //警灯控制 5210 //警灯控制
5100 case JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL: 5211 case JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL:
@@ -5455,9 +5566,9 @@ T_JZsdkReturnCode HalRecv_type1_FrameDeal(int Port, unsigned char *getbuf, int @@ -5455,9 +5566,9 @@ T_JZsdkReturnCode HalRecv_type1_FrameDeal(int Port, unsigned char *getbuf, int
5455 int flag = JZsdk_FrameComparsion(getbuf, len); 5566 int flag = JZsdk_FrameComparsion(getbuf, len);
5456 if (flag == JZ_ERROR_SYSTEM_FRAME_ERROR || flag == JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE) 5567 if (flag == JZ_ERROR_SYSTEM_FRAME_ERROR || flag == JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE)
5457 { 5568 {
5458 - if (len >= 7) 5569 + if (len >= 9)
5459 { 5570 {
5460 - JZSDK_LOG_ERROR("%s 得到了无法正常识别的帧 [0]0x%x [5]0x%x [6]0x%x", JZsdk_DefineCode_GetPortName(Port),getbuf[0],getbuf[5],getbuf[6]); 5571 + JZSDK_LOG_ERROR("%s 得到了无法正常识别的帧 [0]0x%x [7]0x%x [8]0x%x", JZsdk_DefineCode_GetPortName(Port),getbuf[0],getbuf[7],getbuf[8]);
5461 } 5572 }
5462 else 5573 else
5463 { 5574 {
@@ -9,6 +9,7 @@ @@ -9,6 +9,7 @@
9 9
10 10
11 #include "Hal_Send/HalSend.h" 11 #include "Hal_Send/HalSend.h"
  12 +#include "./HalSend_type1.h"
12 13
13 //发送主动连接帧 14 //发送主动连接帧
14 T_JZsdkReturnCode HalSend_type1Send_ConnectFrame(int PortNum) 15 T_JZsdkReturnCode HalSend_type1Send_ConnectFrame(int PortNum)
@@ -585,7 +586,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus_end(int Uartport) @@ -585,7 +586,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus_end(int Uartport)
585 } 586 }
586 587
587 //发送播放状态帧 588 //发送播放状态帧
588 -T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus(int Uartport ,int num) 589 +T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus(int Uartport, int FrameSequence ,int num)
589 { 590 {
590 printf("向"); 591 printf("向");
591 switch (Uartport) 592 switch (Uartport)
@@ -611,6 +612,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus(int Uartport ,int num) @@ -611,6 +612,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus(int Uartport ,int num)
611 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS , sendbuf, &send_buf_len); 612 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS , sendbuf, &send_buf_len);
612 613
613 //2、写入数据 614 //2、写入数据
  615 + sendbuf[6] = FrameSequence; //帧序列
614 sendbuf[9] = (char)num; 616 sendbuf[9] = (char)num;
615 617
616 //3、发送帧 618 //3、发送帧
@@ -618,7 +620,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus(int Uartport ,int num) @@ -618,7 +620,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus(int Uartport ,int num)
618 } 620 }
619 621
620 //回复当前播放的歌曲名字 622 //回复当前播放的歌曲名字
621 -T_JZsdkReturnCode HalSend_type1Send_Reply_MusicName(int Uartport ,char *music_name, int music_name_len) 623 +T_JZsdkReturnCode HalSend_type1Send_Reply_MusicName(int Uartport , int FrameSequence, char *music_name, int music_name_len)
622 { 624 {
623 printf("发送当前歌曲名字帧"); 625 printf("发送当前歌曲名字帧");
624 unsigned char sendbuf[256]; 626 unsigned char sendbuf[256];
@@ -628,6 +630,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_MusicName(int Uartport ,char *music_na @@ -628,6 +630,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_MusicName(int Uartport ,char *music_na
628 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME , sendbuf, &send_buf_len); 630 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME , sendbuf, &send_buf_len);
629 631
630 //2、写入数据 632 //2、写入数据
  633 + sendbuf[6] = FrameSequence; //帧序列
631 memcpy(&sendbuf[9],music_name,music_name_len); 634 memcpy(&sendbuf[9],music_name,music_name_len);
632 sendbuf[9+music_name_len]=0x00; 635 sendbuf[9+music_name_len]=0x00;
633 sendbuf[10+music_name_len]=0x23; 636 sendbuf[10+music_name_len]=0x23;
@@ -642,7 +645,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_MusicName(int Uartport ,char *music_na @@ -642,7 +645,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_MusicName(int Uartport ,char *music_na
642 } 645 }
643 646
644 //回复当前音量 647 //回复当前音量
645 -T_JZsdkReturnCode HalSend_type1Send_Reply_Volume(int Uartport ,int num) 648 +T_JZsdkReturnCode HalSend_type1Send_Reply_Volume(int Uartport, int FrameSequence ,int num)
646 { 649 {
647 printf("发送当前音量帧\n"); 650 printf("发送当前音量帧\n");
648 unsigned char sendbuf[256]; 651 unsigned char sendbuf[256];
@@ -652,6 +655,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_Volume(int Uartport ,int num) @@ -652,6 +655,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_Volume(int Uartport ,int num)
652 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_VOLUME, sendbuf, &send_buf_len); 655 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_VOLUME, sendbuf, &send_buf_len);
653 656
654 //2、写入数据 657 //2、写入数据
  658 + sendbuf[6] = FrameSequence; //帧序列
655 sendbuf[9] = (char)num; 659 sendbuf[9] = (char)num;
656 660
657 //3、发送帧 661 //3、发送帧
@@ -662,7 +666,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_Volume(int Uartport ,int num) @@ -662,7 +666,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_Volume(int Uartport ,int num)
662 666
663 667
664 //回复软件版本号 668 //回复软件版本号
665 -T_JZsdkReturnCode HalSend_type1Send_Reply_SoftVersion(int Uartport ,char majorVersion, char minorVersion, char modifyVersion, char debugVersion) 669 +T_JZsdkReturnCode HalSend_type1Send_Reply_SoftVersion(int Uartport, int FrameSequence, char majorVersion, char minorVersion, char modifyVersion, char debugVersion)
666 { 670 {
667 printf("发送软件版本号帧\n"); 671 printf("发送软件版本号帧\n");
668 unsigned char sendbuf[256]; 672 unsigned char sendbuf[256];
@@ -672,6 +676,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_SoftVersion(int Uartport ,char majorVe @@ -672,6 +676,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_SoftVersion(int Uartport ,char majorVe
672 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_SORTWAREVERSION, sendbuf, &send_buf_len); 676 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_SORTWAREVERSION, sendbuf, &send_buf_len);
673 677
674 //2、写入数据 678 //2、写入数据
  679 + sendbuf[6] = FrameSequence; //帧序列
675 sendbuf[9] = majorVersion; 680 sendbuf[9] = majorVersion;
676 sendbuf[10] = minorVersion; 681 sendbuf[10] = minorVersion;
677 sendbuf[11] = modifyVersion; 682 sendbuf[11] = modifyVersion;
@@ -682,7 +687,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_SoftVersion(int Uartport ,char majorVe @@ -682,7 +687,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_SoftVersion(int Uartport ,char majorVe
682 } 687 }
683 688
684 //发送循环状态 689 //发送循环状态
685 -T_JZsdkReturnCode HalSend_type1Send_Reply_LoopPlayStatus(int Uartport ,int status) 690 +T_JZsdkReturnCode HalSend_type1Send_Reply_LoopPlayStatus(int Uartport , int FrameSequence, int status)
686 { 691 {
687 printf("发送循环状态帧\n"); 692 printf("发送循环状态帧\n");
688 693
@@ -693,6 +698,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_LoopPlayStatus(int Uartport ,int statu @@ -693,6 +698,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_LoopPlayStatus(int Uartport ,int statu
693 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS, sendbuf, &send_buf_len); 698 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS, sendbuf, &send_buf_len);
694 699
695 //2、写入数据 700 //2、写入数据
  701 + sendbuf[6] = FrameSequence;
696 sendbuf[9] = status; 702 sendbuf[9] = status;
697 703
698 //3、发送帧 704 //3、发送帧
@@ -701,7 +707,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_LoopPlayStatus(int Uartport ,int statu @@ -701,7 +707,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_LoopPlayStatus(int Uartport ,int statu
701 } 707 }
702 708
703 //发送音色 709 //发送音色
704 -T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_tone(int Uartport ,int tone) 710 +T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_tone(int Uartport, int FrameSequence, int tone)
705 { 711 {
706 printf("发送音色帧\n"); 712 printf("发送音色帧\n");
707 713
@@ -712,6 +718,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_tone(int Uartport ,int tone) @@ -712,6 +718,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_tone(int Uartport ,int tone)
712 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_TTS_TONE, sendbuf, &send_buf_len); 718 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_TTS_TONE, sendbuf, &send_buf_len);
713 719
714 //2、写入数据 720 //2、写入数据
  721 + sendbuf[6] = FrameSequence; //帧序列
715 sendbuf[9] = tone; 722 sendbuf[9] = tone;
716 723
717 //3、发送帧 724 //3、发送帧
@@ -719,7 +726,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_tone(int Uartport ,int tone) @@ -719,7 +726,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_tone(int Uartport ,int tone)
719 } 726 }
720 727
721 //发送语速 728 //发送语速
722 -T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_speed(int Uartport ,int speed) 729 +T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_speed(int Uartport, int FrameSequence, int speed)
723 { 730 {
724 printf("发送语速帧\n"); 731 printf("发送语速帧\n");
725 732
@@ -730,6 +737,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_speed(int Uartport ,int speed) @@ -730,6 +737,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_speed(int Uartport ,int speed)
730 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_TTS_SPEED, sendbuf, &send_buf_len); 737 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_TTS_SPEED, sendbuf, &send_buf_len);
731 738
732 //2、写入数据 739 //2、写入数据
  740 + sendbuf[6] = FrameSequence; //帧序列
733 sendbuf[9] = speed; 741 sendbuf[9] = speed;
734 742
735 //3、发送帧 743 //3、发送帧
@@ -737,7 +745,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_speed(int Uartport ,int speed) @@ -737,7 +745,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_speed(int Uartport ,int speed)
737 } 745 }
738 746
739 //发送当前播放时间状态 747 //发送当前播放时间状态
740 -T_JZsdkReturnCode HalSend_type1Send_Reply_CurrentPlayTimeStatus(int Uartport ,int mode) 748 +T_JZsdkReturnCode HalSend_type1Send_Reply_CurrentPlayTimeStatus(int Uartport, int FrameSequence ,int mode)
741 { 749 {
742 printf("发送当前播放时间状态帧\n"); 750 printf("发送当前播放时间状态帧\n");
743 751
@@ -748,6 +756,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_CurrentPlayTimeStatus(int Uartport ,in @@ -748,6 +756,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_CurrentPlayTimeStatus(int Uartport ,in
748 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_CURRENT_PLAYTIME, sendbuf, &send_buf_len); 756 JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_CURRENT_PLAYTIME, sendbuf, &send_buf_len);
749 757
750 //2、写入数据 758 //2、写入数据
  759 + sendbuf[6] = FrameSequence; //帧序列
751 sendbuf[9] = mode; 760 sendbuf[9] = mode;
752 761
753 //3、发送帧 762 //3、发送帧
@@ -882,7 +891,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_OpusList_Stop(int Uartport, int FrameSe @@ -882,7 +891,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_OpusList_Stop(int Uartport, int FrameSe
882 ****************************************************************************************************************************************************/ 891 ****************************************************************************************************************************************************/
883 892
884 //回复当前俯仰云台角度 893 //回复当前俯仰云台角度
885 -T_JZsdkReturnCode HalSend_type1Send_Reply_GimbalPitchAngle(int Uartport ,int angle) 894 +T_JZsdkReturnCode HalSend_type1Send_Reply_GimbalPitchAngle(int Uartport, int FrameSequence ,int angle)
886 { 895 {
887 printf("发送当前俯仰云台角度帧\n"); 896 printf("发送当前俯仰云台角度帧\n");
888 unsigned char sendbuf[256]; 897 unsigned char sendbuf[256];
@@ -899,6 +908,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_GimbalPitchAngle(int Uartport ,int ang @@ -899,6 +908,7 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_GimbalPitchAngle(int Uartport ,int ang
899 angle = -angle; 908 angle = -angle;
900 } 909 }
901 910
  911 + sendbuf[6] = FrameSequence; //帧序列
902 sendbuf[9] = (char)signal; 912 sendbuf[9] = (char)signal;
903 sendbuf[10] = (char)(angle >> 8); 913 sendbuf[10] = (char)(angle >> 8);
904 sendbuf[11] = (char)(angle & 255); 914 sendbuf[11] = (char)(angle & 255);
@@ -1513,6 +1523,51 @@ T_JZsdkReturnCode HalSend_type1Send_SearchLight_Lumen(int Uartport,int LeftLumen @@ -1513,6 +1523,51 @@ T_JZsdkReturnCode HalSend_type1Send_SearchLight_Lumen(int Uartport,int LeftLumen
1513 HalSend_SendData(Uartport ,sendbuf, send_buf_len, MULTI_THREAD_SEND); 1523 HalSend_SendData(Uartport ,sendbuf, send_buf_len, MULTI_THREAD_SEND);
1514 } 1524 }
1515 1525
  1526 +/********************
  1527 + *
  1528 + * 发送侧面激光控制值
  1529 + *
  1530 + * *************/
  1531 +T_JZsdkReturnCode HalSend_type1Send_LaserControl(int Uartport, int Control)
  1532 +{
  1533 + printf("发送侧面激光控制值帧\n");
  1534 +
  1535 + unsigned char sendbuf[256];
  1536 + int send_buf_len;
  1537 +
  1538 + //1、获取帧样板
  1539 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_CONTROL, sendbuf, &send_buf_len);
  1540 +
  1541 + //2、写入数据
  1542 + sendbuf[10] = Control;
  1543 +
  1544 + //3、发送帧
  1545 + HalSend_SendData(Uartport ,sendbuf, send_buf_len, MULTI_THREAD_SEND);
  1546 +}
  1547 +
  1548 +/********************
  1549 + *
  1550 + * 发送侧面激光模式
  1551 + *
  1552 + * *************/
  1553 +T_JZsdkReturnCode HalSend_type1Send_LaserMode(int Uartport, int mode)
  1554 +{
  1555 + printf("发送侧面激光模式值帧\n");
  1556 +
  1557 + unsigned char sendbuf[256];
  1558 + int send_buf_len;
  1559 +
  1560 + //1、获取帧样板
  1561 + JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_MODE, sendbuf, &send_buf_len);
  1562 +
  1563 + //2、写入数据
  1564 + sendbuf[10] = mode;
  1565 +
  1566 + //3、发送帧
  1567 + HalSend_SendData(Uartport ,sendbuf, send_buf_len, MULTI_THREAD_SEND);
  1568 +}
  1569 +
  1570 +
1516 /************* 1571 /*************
1517 * 1572 *
1518 * 发送探照灯温度 1573 * 发送探照灯温度
@@ -58,9 +58,9 @@ T_JZsdkReturnCode HalSend_type1Send_Send_AudioList_Stop(int Uartport, int FrameS @@ -58,9 +58,9 @@ T_JZsdkReturnCode HalSend_type1Send_Send_AudioList_Stop(int Uartport, int FrameS
58 58
59 59
60 T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus_end(int Uartport); 60 T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus_end(int Uartport);
61 -T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus(int Uartport ,int num);  
62 -T_JZsdkReturnCode HalSend_type1Send_Reply_MusicName(int Uartport ,char *music_name, int music_name_len);  
63 -T_JZsdkReturnCode HalSend_type1Send_Reply_Volume(int Uartport ,int num); 61 +T_JZsdkReturnCode HalSend_type1Send_Send_PlayStatus(int Uartport, int FrameSequence ,int num);
  62 +T_JZsdkReturnCode HalSend_type1Send_Reply_MusicName(int Uartport , int FrameSequence, char *music_name, int music_name_len);
  63 +T_JZsdkReturnCode HalSend_type1Send_Reply_Volume(int Uartport, int FrameSequence ,int num);
64 T_JZsdkReturnCode HalSend_type1Send_OpusDecodeStatus(int Uartport,int value); 64 T_JZsdkReturnCode HalSend_type1Send_OpusDecodeStatus(int Uartport,int value);
65 65
66 T_JZsdkReturnCode HalSend_type1Send_Send_OpusList_Start(int Uartport, int FrameSequence, int music_sum); 66 T_JZsdkReturnCode HalSend_type1Send_Send_OpusList_Start(int Uartport, int FrameSequence, int music_sum);
@@ -68,7 +68,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_OpusList_Trans(int Uartport, int FrameS @@ -68,7 +68,7 @@ T_JZsdkReturnCode HalSend_type1Send_Send_OpusList_Trans(int Uartport, int FrameS
68 T_JZsdkReturnCode HalSend_type1Send_Send_OpusList_Stop(int Uartport, int FrameSequence); 68 T_JZsdkReturnCode HalSend_type1Send_Send_OpusList_Stop(int Uartport, int FrameSequence);
69 69
70 70
71 -T_JZsdkReturnCode HalSend_type1Send_Reply_GimbalPitchAngle(int Uartport ,int angle); 71 +T_JZsdkReturnCode HalSend_type1Send_Reply_GimbalPitchAngle(int Uartport, int FrameSequence ,int angle);
72 T_JZsdkReturnCode HalSend_type1Send_Set_GimbalPitchAngle(int Uartport ,int angle); 72 T_JZsdkReturnCode HalSend_type1Send_Set_GimbalPitchAngle(int Uartport ,int angle);
73 T_JZsdkReturnCode HalSend_type1Send_Reply_GimbalFineTuningPitch(int Uartport, int FrameSequence, int FineTunigPitch); 73 T_JZsdkReturnCode HalSend_type1Send_Reply_GimbalFineTuningPitch(int Uartport, int FrameSequence, int FineTunigPitch);
74 T_JZsdkReturnCode HalSend_type1Send_Set_GimbalFineTuningPitch(int Uartport, int PitchFineTuning); 74 T_JZsdkReturnCode HalSend_type1Send_Set_GimbalFineTuningPitch(int Uartport, int PitchFineTuning);
@@ -80,12 +80,12 @@ T_JZsdkReturnCode HalSend_type1Send_CheckStatus_GimbalAngle(int Uartport ,int Fr @@ -80,12 +80,12 @@ T_JZsdkReturnCode HalSend_type1Send_CheckStatus_GimbalAngle(int Uartport ,int Fr
80 T_JZsdkReturnCode HalSend_type1Send_SetGimbalRange(int Uartport,int FrameSequence,int value); 80 T_JZsdkReturnCode HalSend_type1Send_SetGimbalRange(int Uartport,int FrameSequence,int value);
81 81
82 82
83 -T_JZsdkReturnCode HalSend_type1Send_Reply_SoftVersion(int Uartport ,char majorVersion, char minorVersion, char modifyVersion, char debugVersion);  
84 -T_JZsdkReturnCode HalSend_type1Send_Reply_LoopPlayStatus(int Uartport ,int status);  
85 -T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_tone(int Uartport ,int tone);  
86 -T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_speed(int Uartport ,int speed); 83 +T_JZsdkReturnCode HalSend_type1Send_Reply_SoftVersion(int Uartport, int FrameSequence, char majorVersion, char minorVersion, char modifyVersion, char debugVersion);
  84 +T_JZsdkReturnCode HalSend_type1Send_Reply_LoopPlayStatus(int Uartport , int FrameSequence, int status);
  85 +T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_tone(int Uartport, int FrameSequence, int tone);
  86 +T_JZsdkReturnCode HalSend_type1Send_Reply_TTS_speed(int Uartport, int FrameSequence, int speed);
87 T_JZsdkReturnCode HalSend_type1Send_Reply_CurrentPlayTime(int Uartport ,int time); 87 T_JZsdkReturnCode HalSend_type1Send_Reply_CurrentPlayTime(int Uartport ,int time);
88 -T_JZsdkReturnCode HalSend_type1Send_Reply_CurrentPlayTimeStatus(int Uartport ,int mode); 88 +T_JZsdkReturnCode HalSend_type1Send_Reply_CurrentPlayTimeStatus(int Uartport, int FrameSequence ,int mode);
89 89
90 90
91 T_JZsdkReturnCode HalSend_type1Send_Set_SearchLightFrequency(int Uartport ,int Frequency); 91 T_JZsdkReturnCode HalSend_type1Send_Set_SearchLightFrequency(int Uartport ,int Frequency);
@@ -132,6 +132,8 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_UpgradeStart(int Uartport); @@ -132,6 +132,8 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_UpgradeStart(int Uartport);
132 T_JZsdkReturnCode HalSend_type1Send_Reply_UpgradeEnd(int Uartport); 132 T_JZsdkReturnCode HalSend_type1Send_Reply_UpgradeEnd(int Uartport);
133 T_JZsdkReturnCode HalSend_type1Send_Reply_UpgradeCheckResult(int Uartport, int status); 133 T_JZsdkReturnCode HalSend_type1Send_Reply_UpgradeCheckResult(int Uartport, int status);
134 134
  135 +T_JZsdkReturnCode HalSend_type1Send_LaserControl(int Uartport, int Control);
  136 +T_JZsdkReturnCode HalSend_type1Send_LaserMode(int Uartport, int mode);
135 137
136 138
137 139
@@ -167,6 +167,25 @@ static T_JZsdkReturnCode DeviceMessage_Enter_Default(unsigned char *message) @@ -167,6 +167,25 @@ static T_JZsdkReturnCode DeviceMessage_Enter_Default(unsigned char *message)
167 snprintf(message,MESSAGE_MAX_LEN,"%s%s",old_message,new_message); 167 snprintf(message,MESSAGE_MAX_LEN,"%s%s",old_message,new_message);
168 //JZSDK_LOG_INFO("获取的信息%s",message); 168 //JZSDK_LOG_INFO("获取的信息%s",message);
169 } 169 }
  170 +
  171 + // //某些特殊固件增加了功率模拟显示
  172 + // if (g_MessageLanguage == DEVICE_MESSAGE_CHINESE)
  173 + // {
  174 + // memset(new_message,0,sizeof(new_message));
  175 + // memset(old_message,0,sizeof(old_message));
  176 + // snprintf(new_message,MESSAGE_MAX_LEN,"当前功率:%0.1fW\n", JZsdk_GetMagaphonePowerSimulation());
  177 + // snprintf(old_message,MESSAGE_MAX_LEN,"%s",message);
  178 + // snprintf(message,MESSAGE_MAX_LEN,"%s%s",old_message,new_message);
  179 + // }
  180 + // else
  181 + // {
  182 + // memset(new_message,0,sizeof(new_message));
  183 + // memset(old_message,0,sizeof(old_message));
  184 + // snprintf(new_message,MESSAGE_MAX_LEN,"Current Power:%0.1fW\n", JZsdk_GetMagaphonePowerSimulation());
  185 + // snprintf(old_message,MESSAGE_MAX_LEN,"%s",message);
  186 + // snprintf(message,MESSAGE_MAX_LEN,"%s%s",old_message,new_message);
  187 + // }
  188 +
170 #endif 189 #endif
171 190
172 #ifdef IRC_CONFIG_STATUS_ON 191 #ifdef IRC_CONFIG_STATUS_ON
@@ -195,6 +195,7 @@ T_JZsdkReturnCode Lighting_Set_SearchLightFrequency(int value) @@ -195,6 +195,7 @@ T_JZsdkReturnCode Lighting_Set_SearchLightFrequency(int value)
195 195
196 if (DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30) 196 if (DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30)
197 { 197 {
  198 + SearchLight_Frequency = value;
198 return SearchLight_V3S_U3_Set_SearchLightFrequency(value); 199 return SearchLight_V3S_U3_Set_SearchLightFrequency(value);
199 } 200 }
200 else if (DEVICE_VERSION == JZ_H1T) 201 else if (DEVICE_VERSION == JZ_H1T)
@@ -306,6 +307,8 @@ T_JZsdkReturnCode Lighting_Set_WarningLight_Status(int status, int mode) @@ -306,6 +307,8 @@ T_JZsdkReturnCode Lighting_Set_WarningLight_Status(int status, int mode)
306 #elif DEVICE_VERSION == TF_A1 307 #elif DEVICE_VERSION == TF_A1
307 return WarningLight_V3S_TFA1_Set_WarningLight_Status(status, mode); 308 return WarningLight_V3S_TFA1_Set_WarningLight_Status(status, mode);
308 #elif DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30 309 #elif DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30
  310 + WarningLight_Status = status;
  311 + WarningLight_Mode = mode;
309 return HalSend_type1Send_Set_WarningLight_Status(UART_DEV_2, status, mode); 312 return HalSend_type1Send_Set_WarningLight_Status(UART_DEV_2, status, mode);
310 #else 313 #else
311 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; 314 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
@@ -344,6 +347,10 @@ T_JZsdkReturnCode Lighting_CheckStatus_WarningLightStatus(int *ValueSwitch, int @@ -344,6 +347,10 @@ T_JZsdkReturnCode Lighting_CheckStatus_WarningLightStatus(int *ValueSwitch, int
344 { 347 {
345 WarningLight_V3S_H1T_CheckStatus_WarningLightStatus(); 348 WarningLight_V3S_H1T_CheckStatus_WarningLightStatus();
346 } 349 }
  350 + else if (DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30)
  351 + {
  352 + HalSend_type1Send_CheckStatus_WarningLightStatus(UART_DEV_2);
  353 + }
347 354
348 //2、获取一次本地警灯状态 355 //2、获取一次本地警灯状态
349 Lighting_Get_WarningLight_Status(ValueSwitch, ValueMode); 356 Lighting_Get_WarningLight_Status(ValueSwitch, ValueMode);
@@ -367,7 +374,14 @@ T_JZsdkReturnCode Lighting_Set_WarningLight_Color(int color1, int color2) @@ -367,7 +374,14 @@ T_JZsdkReturnCode Lighting_Set_WarningLight_Color(int color1, int color2)
367 #elif DEVICE_VERSION == TF_A1 374 #elif DEVICE_VERSION == TF_A1
368 return WarningLight_V3S_TFA1_Set_WarningLight_Color(color1, color2); 375 return WarningLight_V3S_TFA1_Set_WarningLight_Color(color1, color2);
369 #elif DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30 376 #elif DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30
370 - HalSend_type1Send_Set_WarningLight_Color(UART_DEV_2, color1, color2); 377 +
  378 + //临时方案，u3s查不到警灯颜色
  379 + #if DEVICE_VERSION == JZ_U3S
  380 + WarningLight_Color1 = color1;
  381 + WarningLight_Color2 = color2;
  382 + #endif
  383 +
  384 + return HalSend_type1Send_Set_WarningLight_Color(UART_DEV_2, color1, color2);
371 #else 385 #else
372 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; 386 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
373 #endif 387 #endif
@@ -115,7 +115,7 @@ typedef struct IRC_param @@ -115,7 +115,7 @@ typedef struct IRC_param
115 unsigned int Width; 115 unsigned int Width;
116 unsigned int Height; 116 unsigned int Height;
117 unsigned int PixelNum; //像素个数 117 unsigned int PixelNum; //像素个数
118 - unsigned int OutputPixelColorMode; //输出色彩模式 0 默认模式 1 伪彩模式 2 气体增强模式 118 + unsigned int OutputPixelColorMode; //输出色彩模式 0 默认模式 1 伪彩模式 2 气体增强模式 3 气体增强模式2类
119 119
120 unsigned int IRC_outPixelMode; //IRC输出像素模式 RGB888 YUV420 120 unsigned int IRC_outPixelMode; //IRC输出像素模式 RGB888 YUV420
121 121
@@ -448,7 +448,7 @@ static T_JZsdkReturnCode IRC_data_PreliminaryDeal(U16_t *rawData ,unsigned int * @@ -448,7 +448,7 @@ static T_JZsdkReturnCode IRC_data_PreliminaryDeal(U16_t *rawData ,unsigned int *
448 /*************************************气体增强部分，标记气体增图像图像******************************************************************/ 448 /*************************************气体增强部分，标记气体增图像图像******************************************************************/
449 449
450 //如果开启气体增强时，未标记过气体画面，则标记 450 //如果开启气体增强时，未标记过气体画面，则标记
451 - if (dealInfo->OutputPixelColorMode == 2 && dealInfo->First_DGCE_flag == JZ_FLAGCODE_OFF) 451 + if ((dealInfo->OutputPixelColorMode == 2 || dealInfo->OutputPixelColorMode == 3) && dealInfo->First_DGCE_flag == JZ_FLAGCODE_OFF)
452 { 452 {
453 JZSDK_LOG_INFO("未标记过气体画面"); 453 JZSDK_LOG_INFO("未标记过气体画面");
454 dealInfo->First_DGCE_flag = JZ_FLAGCODE_ON; 454 dealInfo->First_DGCE_flag = JZ_FLAGCODE_ON;
@@ -899,7 +899,7 @@ T_JZsdkReturnCode IRC_Set_OutputPixelColorMode(int value) @@ -899,7 +899,7 @@ T_JZsdkReturnCode IRC_Set_OutputPixelColorMode(int value)
899 { 899 {
900 T_JZsdkReturnCode ret; 900 T_JZsdkReturnCode ret;
901 901
902 - if (value < 0 || value > 2) 902 + if (value < 0 || value > 3)
903 { 903 {
904 JZSDK_LOG_ERROR("像素输出模式出错1"); 904 JZSDK_LOG_ERROR("像素输出模式出错1");
905 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; 905 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
@@ -911,11 +911,11 @@ T_JZsdkReturnCode IRC_Set_OutputPixelColorMode(int value) @@ -911,11 +911,11 @@ T_JZsdkReturnCode IRC_Set_OutputPixelColorMode(int value)
911 return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; 911 return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
912 } 912 }
913 913
914 - if (value == 1 || value == 0)  
915 - { 914 + // if (value == 1 || value == 0)
  915 + // {
916 //切换模式后要重新设置气体增强 916 //切换模式后要重新设置气体增强
917 g_IRC_Param->First_DGCE_flag = JZ_FLAGCODE_OFF; 917 g_IRC_Param->First_DGCE_flag = JZ_FLAGCODE_OFF;
918 - } 918 + //}
919 919
920 switch (value) 920 switch (value)
921 { 921 {
@@ -931,6 +931,10 @@ T_JZsdkReturnCode IRC_Set_OutputPixelColorMode(int value) @@ -931,6 +931,10 @@ T_JZsdkReturnCode IRC_Set_OutputPixelColorMode(int value)
931 JZSDK_LOG_INFO("红外气体增强输出"); 931 JZSDK_LOG_INFO("红外气体增强输出");
932 break; 932 break;
933 933
  934 + case 0x03:
  935 + JZSDK_LOG_INFO("红外气体增强输出2");
  936 + break;
  937 +
934 default: 938 default:
935 JZSDK_LOG_ERROR("红外输出模式出错"); 939 JZSDK_LOG_ERROR("红外输出模式出错");
936 break; 940 break;
@@ -249,8 +249,8 @@ T_JZsdkReturnCode KtLib_writeMarkData(int type, U16_t* in ,int size) @@ -249,8 +249,8 @@ T_JZsdkReturnCode KtLib_writeMarkData(int type, U16_t* in ,int size)
249 } 249 }
250 250
251 static int lastCorrectMode = JZ_FLAGCODE_OFF; 251 static int lastCorrectMode = JZ_FLAGCODE_OFF;
252 -static int DynamicGasesColorFlag = JZ_FLAGCODE_OFF;  
253 -static int PseudoColorFlag = JZ_FLAGCODE_OFF; 252 +static int LastColorMode = JZ_FLAGCODE_OFF;
  253 +static int ColorMode = JZ_FLAGCODE_OFF;
254 254
255 255
256 T_JZsdkReturnCode KtLib_DataDeal(U16_t* U16_data, unsigned int U16_dataSize, 256 T_JZsdkReturnCode KtLib_DataDeal(U16_t* U16_data, unsigned int U16_dataSize,
@@ -320,73 +320,60 @@ T_JZsdkReturnCode KtLib_DataDeal(U16_t* U16_data, unsigned int U16_dataSize, @@ -320,73 +320,60 @@ T_JZsdkReturnCode KtLib_DataDeal(U16_t* U16_data, unsigned int U16_dataSize,
320 *RGB_data = new U8_t[dealInfo->PixelNum*3]; 320 *RGB_data = new U8_t[dealInfo->PixelNum*3];
321 *RGB_dataSize = 0; 321 *RGB_dataSize = 0;
322 322
323 - // 图像输出模式  
324 - switch (dealInfo->OutputPixelColorMode) 323 + //检查图像输入模式
  324 + ColorMode = dealInfo->OutputPixelColorMode;
  325 + if (LastColorMode != ColorMode)
325 { 326 {
326 - case 0: // 默认输出模式 327 + //上次色彩模式为无
  328 + if (LastColorMode == 0)
327 { 329 {
328 - if (DynamicGasesColorFlag == JZ_FLAGCODE_ON)  
329 - {  
330 - CloseDynamicGasesColorEnhance();  
331 - DynamicGasesColorFlag = JZ_FLAGCODE_OFF; 330 + //不用管
332 } 331 }
333 -  
334 - if (PseudoColorFlag == JZ_FLAGCODE_ON) 332 + //上次为伪彩模式
  333 + else if (LastColorMode == 1)
335 { 334 {
  335 + //关闭伪彩
336 ClosePseudoColor(); 336 ClosePseudoColor();
337 - PseudoColorFlag = JZ_FLAGCODE_OFF;  
338 - }  
339 -  
340 - bool_ret = GetImageSynchronous(inputDataChar, inputDataSize, (char *)*RGB_data, dealInfo->PixelNum*3, (int *)RGB_dataSize); //同步处理数据  
341 } 337 }
342 - break;  
343 -  
344 - case 1: // 伪彩输出模式  
345 - {  
346 - if (DynamicGasesColorFlag == JZ_FLAGCODE_ON) 338 + //上次为气体增强模式1
  339 + else if (LastColorMode == 2)
347 { 340 {
  341 + //关闭气体增强
348 CloseDynamicGasesColorEnhance(); 342 CloseDynamicGasesColorEnhance();
349 - DynamicGasesColorFlag = JZ_FLAGCODE_OFF;  
350 } 343 }
351 -  
352 - if (PseudoColorFlag == JZ_FLAGCODE_OFF) 344 + //上次为气体增强模式2
  345 + else if (LastColorMode == 3)
353 { 346 {
354 - OpenPseudoColor();  
355 - PseudoColorFlag = JZ_FLAGCODE_ON;  
356 - }  
357 -  
358 - bool_ret = GetImageSynchronous(inputDataChar, inputDataSize, (char *)*RGB_data, dealInfo->PixelNum*3, (int *)RGB_dataSize); //同步处理数据  
359 -  
360 - // //将rgb888数据反转为灰度数据并进行颜色映射  
361 - // PseudoColor_GrayRgb2Rgb((*RGB_data), dealInfo->PixelNum); 347 + //关闭气体增强
  348 + CloseDynamicGasesColorEnhance2();
362 } 349 }
363 - break;  
364 350
365 - case 2: // 气体色彩增强输出模式 351 + //根据当前模式选择打开模式
  352 + if (ColorMode == 0)
366 { 353 {
367 - if (PseudoColorFlag == JZ_FLAGCODE_ON) 354 + //不用管
  355 + }
  356 + else if (ColorMode == 1)
368 { 357 {
369 - ClosePseudoColor();  
370 - PseudoColorFlag = JZ_FLAGCODE_OFF; 358 + //打开伪彩
  359 + OpenPseudoColor();
371 } 360 }
372 -  
373 - if (DynamicGasesColorFlag == JZ_FLAGCODE_OFF) 361 + else if (ColorMode == 2)
374 { 362 {
  363 + //打开气体增强模式1
375 OpenDynamicGasesColorEnhance(); 364 OpenDynamicGasesColorEnhance();
376 - DynamicGasesColorFlag = JZ_FLAGCODE_ON;  
377 } 365 }
378 -  
379 - bool_ret = GetImageSynchronous(inputDataChar, inputDataSize, (char *)*RGB_data, dealInfo->PixelNum*3, (int *)RGB_dataSize); //同步处理数据  
380 - 366 + else if (ColorMode == 3)
  367 + {
  368 + //打开气体增强模式2
  369 + OpenDynamicGasesColorEnhance2();
381 } 370 }
382 - break;  
383 371
384 - default:  
385 - delete[] inputDataChar;  
386 - return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;  
387 - break; 372 + LastColorMode = ColorMode;
388 } 373 }
389 374
  375 + bool_ret = GetImageSynchronous(inputDataChar, inputDataSize, (char *)*RGB_data, dealInfo->PixelNum*3, (int *)RGB_dataSize); //同步处理数据
  376 +
390 if (bool_ret == false) 377 if (bool_ret == false)
391 { 378 {
392 JZSDK_LOG_ERROR("sdk处理错误"); 379 JZSDK_LOG_ERROR("sdk处理错误");
@@ -149,7 +149,7 @@ T_JZsdkReturnCode RTK_mmp_enc_Init(T_rtk_mmp_enc_info *enc_info) @@ -149,7 +149,7 @@ T_JZsdkReturnCode RTK_mmp_enc_Init(T_rtk_mmp_enc_info *enc_info)
149 mpp_enc_cfg_set_s32(enc_info->cfg, "rc:mode", MPP_ENC_RC_MODE_CBR); 149 mpp_enc_cfg_set_s32(enc_info->cfg, "rc:mode", MPP_ENC_RC_MODE_CBR);
150 150
151 //设置码率 dji要小于8M 先填个4M 4000000 151 //设置码率 dji要小于8M 先填个4M 4000000
152 - mpp_enc_cfg_set_s32(enc_info->cfg, "rc:bps_target", 4000000); 152 + mpp_enc_cfg_set_s32(enc_info->cfg, "rc:bps_target", enc_info->bps_target);
153 153
154 //设置输入帧率不变 154 //设置输入帧率不变
155 mpp_enc_cfg_set_s32(enc_info->cfg, "rc:fps_in_flex", 0); 155 mpp_enc_cfg_set_s32(enc_info->cfg, "rc:fps_in_flex", 0);
@@ -18,6 +18,7 @@ typedef struct T_rtk_mmp_enc_info @@ -18,6 +18,7 @@ typedef struct T_rtk_mmp_enc_info
18 unsigned int width; //输入视频的宽度 18 unsigned int width; //输入视频的宽度
19 unsigned int height; //输入视频的高度 19 unsigned int height; //输入视频的高度
20 unsigned int FrameNum; //帧数 20 unsigned int FrameNum; //帧数
  21 + unsigned int bps_target; //目标码率
21 22
22 MppCodingType encType; //编码的类型 23 MppCodingType encType; //编码的类型
23 unsigned int IDR_gop; //i帧间隔数 24 unsigned int IDR_gop; //i帧间隔数
@@ -97,6 +97,9 @@ T_JZsdkReturnCode VideoMgmt_VideoStreamFlowIndex(int index) @@ -97,6 +97,9 @@ T_JZsdkReturnCode VideoMgmt_VideoStreamFlowIndex(int index)
97 break; 97 break;
98 } 98 }
99 99
  100 + //增加一个i帧
  101 + VideoStramPhoto_DevelopH264FlowGenerateIDR();
  102 +
100 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 103 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
101 } 104 }
102 105
@@ -136,12 +139,11 @@ T_JZsdkReturnCode VideoStramPhoto_DevelopH264FlowGenerateIDR() @@ -136,12 +139,11 @@ T_JZsdkReturnCode VideoStramPhoto_DevelopH264FlowGenerateIDR()
136 { 139 {
137 140
138 T_JZsdkVideoMgmtHandler *VideoMgmtHandler = JZsdk_GetVideoMgmtHandler(); 141 T_JZsdkVideoMgmtHandler *VideoMgmtHandler = JZsdk_GetVideoMgmtHandler();
139 - if (VideoMgmtHandler == NULL) 142 + if (VideoMgmtHandler == NULL || VideoMgmtHandler->SetNextFrame_IDR == NULL)
140 { 143 {
141 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; 144 return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
142 } 145 }
143 146
144 -  
145 VideoMgmtHandler->SetNextFrame_IDR(g_VideoStreamFlowIndexNum); 147 VideoMgmtHandler->SetNextFrame_IDR(g_VideoStreamFlowIndexNum);
146 148
147 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 149 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -51,6 +51,7 @@ T_JZsdkReturnCode Megaphone_SetVolume(int value, int mode);//霈曄蔭 @@ -51,6 +51,7 @@ T_JZsdkReturnCode Megaphone_SetVolume(int value, int mode);//霈曄蔭
51 51
52 static int g_TTS_Max_volume = 0; //用于存储tts最大音量限制 52 static int g_TTS_Max_volume = 0; //用于存储tts最大音量限制
53 static int g_Max_volume = 0; //用于存储最大音量限制 53 static int g_Max_volume = 0; //用于存储最大音量限制
  54 +static double PowerSimulation = 0; //用于模拟喊话器功率状态
54 55
55 /********************** 56 /**********************
56 * 57 *
@@ -919,6 +920,62 @@ static T_JZsdkReturnCode Megaphone_MaxVolume_Init() @@ -919,6 +920,62 @@ static T_JZsdkReturnCode Megaphone_MaxVolume_Init()
919 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 920 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
920 } 921 }
921 922
  923 +
  924 +static void *JZsdk_PowerSimulationThread(void *args)
  925 +{
  926 + T_JZsdkOsalHandler *OsalHandle = JZsdk_Platform_GetOsalHandler();
  927 +
  928 + while(1)
  929 + {
  930 + //获取当前播放状态
  931 + int play_status = Megaphone_GetMegaphoneStatus();
  932 +
  933 + //生产一个随机数
  934 + U16_t randomNum;
  935 + OsalHandle->GetRandomNum(&randomNum); // 获取 0~65535 的随机数
  936 +
  937 + // 转换为 [0.5, 1.2) 范围
  938 + double normalized = 0.5 + ((double)randomNum / 65535.0) * 0.7;
  939 +
  940 + //获取音量百分比
  941 + int volume = g_Megaphone_Volume;
  942 + double _volume = (double)volume / 100;
  943 + if (_volume < 0.1)
  944 + {
  945 + _volume = 0.1;
  946 + }
  947 +
  948 + if (play_status == AUDIO_PLAY_STATUS_IDLE)
  949 + {
  950 + PowerSimulation = 25 * 0.1 * normalized;
  951 + }
  952 + else
  953 + {
  954 + PowerSimulation = 25* _volume * normalized;
  955 + }
  956 +
  957 + //printf("PowerSimulation:%0.1f\n",PowerSimulation);
  958 +
  959 + OsalHandle->TaskSleepMs(1000);
  960 + }
  961 +}
  962 +
  963 +//获取模拟功率
  964 +double JZsdk_GetMagaphonePowerSimulation()
  965 +{
  966 + return PowerSimulation;
  967 +}
  968 +
  969 +static T_JZsdkReturnCode PowerSimulation_Init()
  970 +{
  971 + T_JZsdkOsalHandler *OsalHandle = JZsdk_Platform_GetOsalHandler();
  972 +
  973 + T_JZTaskHandle single_task = NULL;
  974 + OsalHandle->TaskCreate("PowerSimulation", JZsdk_PowerSimulationThread, 8192, NULL , &single_task);
  975 +
  976 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  977 +}
  978 +
922 /********* 979 /*********
923 * 980 *
924 * 喊话器初始化 981 * 喊话器初始化
@@ -965,6 +1022,9 @@ T_JZsdkReturnCode Megaphone_Init() @@ -965,6 +1022,9 @@ T_JZsdkReturnCode Megaphone_Init()
965 Megaphone_TTS_param(JZ_FLAGCODE_SET, MEGAPHONE_TTS_TONE, &language); 1022 Megaphone_TTS_param(JZ_FLAGCODE_SET, MEGAPHONE_TTS_TONE, &language);
966 } 1023 }
967 1024
  1025 + //设置一个模拟功率函数
  1026 + //PowerSimulation_Init();
  1027 +
968 MegaphoneStatusFlag = JZ_FLAGCODE_ON; 1028 MegaphoneStatusFlag = JZ_FLAGCODE_ON;
969 } 1029 }
970 1030
@@ -1515,17 +1575,17 @@ T_JZsdkReturnCode Megaphone_PrintVolume(int Value, int flag) @@ -1515,17 +1575,17 @@ T_JZsdkReturnCode Megaphone_PrintVolume(int Value, int flag)
1515 //如果4G模块有启动 1575 //如果4G模块有启动
1516 if ( (JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON)) 1576 if ( (JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON))
1517 { 1577 {
1518 - HalSend_type1Send_Reply_Volume(UART_4G, g_Megaphone_Volume); 1578 + HalSend_type1Send_Reply_Volume(UART_4G, 0, g_Megaphone_Volume);
1519 } 1579 }
1520 //如果设备1有启动 1580 //如果设备1有启动
1521 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) ) 1581 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) )
1522 { 1582 {
1523 - HalSend_type1Send_Reply_Volume(UART_DEV_1, g_Megaphone_Volume); 1583 + HalSend_type1Send_Reply_Volume(UART_DEV_1, 0, g_Megaphone_Volume);
1524 } 1584 }
1525 //如果设备2有启动 1585 //如果设备2有启动
1526 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) ) 1586 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) )
1527 { 1587 {
1528 - HalSend_type1Send_Reply_Volume(UART_DEV_2, g_Megaphone_Volume); 1588 + HalSend_type1Send_Reply_Volume(UART_DEV_2, 0, g_Megaphone_Volume);
1529 } 1589 }
1530 //如果psdk接口已经使用 1590 //如果psdk接口已经使用
1531 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON)) 1591 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON))
@@ -146,7 +146,7 @@ T_JZsdkReturnCode Megaphone_PrintVolume(int Value, int flag); @@ -146,7 +146,7 @@ T_JZsdkReturnCode Megaphone_PrintVolume(int Value, int flag);
146 146
147 147
148 T_JZsdkReturnCode Megaphone_PresetTask(); 148 T_JZsdkReturnCode Megaphone_PresetTask();
149 - 149 +double JZsdk_GetMagaphonePowerSimulation();
150 #ifdef __cplusplus 150 #ifdef __cplusplus
151 } 151 }
152 #endif 152 #endif
@@ -123,7 +123,7 @@ static T_JZsdkReturnCode TTS_Synthesis(const char* src_text, const char* params) @@ -123,7 +123,7 @@ static T_JZsdkReturnCode TTS_Synthesis(const char* src_text, const char* params)
123 * 获取音源 123 * 获取音源
124 * 124 *
125 * ********/ 125 * ********/
126 -static T_JZsdkReturnCode TTS_GetSoundSource(int tone,unsigned char *name_tts, unsigned char *name_path) 126 +static T_JZsdkReturnCode TTS_GetSoundSource(int tone,unsigned char *name_tts, unsigned char *name_path, unsigned char *rule_path)
127 { 127 {
128 128
129 /* 129 /*
@@ -182,6 +182,25 @@ static T_JZsdkReturnCode TTS_GetSoundSource(int tone,unsigned char *name_tts, un @@ -182,6 +182,25 @@ static T_JZsdkReturnCode TTS_GetSoundSource(int tone,unsigned char *name_tts, un
182 snprintf(name_path,64, "fo|/root/tts/xiaoyan.jet"); 182 snprintf(name_path,64, "fo|/root/tts/xiaoyan.jet");
183 break; 183 break;
184 } 184 }
  185 +
  186 + //写入发音规则
  187 + memset(rule_path,0,128);
  188 + snprintf(rule_path,128,"/root/tts/common.jet");
  189 +
  190 + //不是英文就直接返回
  191 + if ( tone != 0x11 && tone != 0x12)
  192 + {
  193 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  194 + }
  195 +
  196 + //由于有讯飞更新，让英文有了新的发音规则，所以要检测本地是否有新的发音规则
  197 + if(JZsdk_check_file_exists("/root/tts/common_en.jet") == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  198 + {
  199 + memset(rule_path,0,128);
  200 + snprintf(rule_path,128,"/root/tts/common_en.jet");
  201 + }
  202 +
  203 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
185 } 204 }
186 205
187 static T_JZsdkReturnCode TTS_FILE_GenerateAndPlay(struct t_Megaphone_tts_param *Megaphone_tts_param) 206 static T_JZsdkReturnCode TTS_FILE_GenerateAndPlay(struct t_Megaphone_tts_param *Megaphone_tts_param)
@@ -196,15 +215,18 @@ static T_JZsdkReturnCode TTS_FILE_GenerateAndPlay(struct t_Megaphone_tts_param * @@ -196,15 +215,18 @@ static T_JZsdkReturnCode TTS_FILE_GenerateAndPlay(struct t_Megaphone_tts_param *
196 int ret = MSP_SUCCESS; 215 int ret = MSP_SUCCESS;
197 char name_tts[16]; 216 char name_tts[16];
198 char name_path[64]; 217 char name_path[64];
  218 +
199 char session_begin_params[512]; 219 char session_begin_params[512];
200 char tts_add_params[512]; 220 char tts_add_params[512];
  221 + char rule[128];
201 222
202 - //获取音源  
203 - TTS_GetSoundSource(tone, name_tts, name_path); 223 + //获取音源，以及规则
  224 + TTS_GetSoundSource(tone, name_tts, name_path, rule);
204 225
  226 + //配置合成参数
205 snprintf(session_begin_params,512, 227 snprintf(session_begin_params,512,
206 - "engine_type = local,voice_name=%s, text_encoding = UTF8, tts_res_path = %s;fo|/root/tts/common.jet, sample_rate = 16000, speed = %d, volume = %d, pitch = 50, rdn = 2"  
207 - ,name_tts,name_path,speed,volume); 228 + "engine_type = local,voice_name=%s, text_encoding = UTF8, tts_res_path = %s;fo|%s, sample_rate = 16000, speed = %d, volume = %d, pitch = 50, rdn = 2"
  229 + ,name_tts , name_path, rule, speed, volume);
208 230
209 printf("session_begin_params=%s\n",session_begin_params); 231 printf("session_begin_params=%s\n",session_begin_params);
210 printf("argv=%s\n",argv); 232 printf("argv=%s\n",argv);
@@ -11,29 +11,34 @@ @@ -11,29 +11,34 @@
11 static T_JZsdkReturnCode SideLaser_RealCotrol(int LaserNum, int status); 11 static T_JZsdkReturnCode SideLaser_RealCotrol(int LaserNum, int status);
12 12
13 13
14 -static unsigned char g_LaserMode = SIDE_LASER_OFF;  
15 14
16 -static T_SideLaserMode g_SideLaser_Control = SIDE_LASER_OFF; 15 +static T_SideLaserMode g_SideLaser_RealMode = SIDE_LASER_OFF; //实际控制灯光的值
  16 +
  17 +static int g_SideLaserMode = 0; //realmode -1
  18 +static int g_SideLaserControl = JZ_FLAGCODE_OFF;
  19 +
17 static int SideLaser_Frequency = 50; //1~100 20 static int SideLaser_Frequency = 50; //1~100
18 21
  22 +
19 static void *SideLaserControl_task(void *arg) 23 static void *SideLaserControl_task(void *arg)
20 { 24 {
21 int status = JZ_FLAGCODE_OFF; 25 int status = JZ_FLAGCODE_OFF;
22 static T_SideLaserMode Last_LaserMode = SIDE_LASER_OFF; 26 static T_SideLaserMode Last_LaserMode = SIDE_LASER_OFF;
  27 +
23 while (1) 28 while (1)
24 { 29 {
25 - switch (g_SideLaser_Control) 30 + switch (g_SideLaser_RealMode)
26 { 31 {
27 case SIDE_LASER_OFF: 32 case SIDE_LASER_OFF:
28 { 33 {
29 - if (Last_LaserMode == g_SideLaser_Control) 34 + if (Last_LaserMode == g_SideLaser_RealMode)
30 { 35 {
31 delayMs(10); 36 delayMs(10);
32 continue; 37 continue;
33 } 38 }
34 else 39 else
35 { 40 {
36 - Last_LaserMode = g_SideLaser_Control; 41 + Last_LaserMode = g_SideLaser_RealMode;
37 SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF); 42 SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF);
38 continue; 43 continue;
39 } 44 }
@@ -42,14 +47,14 @@ static void *SideLaserControl_task(void *arg) @@ -42,14 +47,14 @@ static void *SideLaserControl_task(void *arg)
42 47
43 case SIDE_LASER_GREEN_AWALYS_ON: 48 case SIDE_LASER_GREEN_AWALYS_ON:
44 { 49 {
45 - if (Last_LaserMode == g_SideLaser_Control) 50 + if (Last_LaserMode == g_SideLaser_RealMode)
46 { 51 {
47 delayMs(10); 52 delayMs(10);
48 continue; 53 continue;
49 } 54 }
50 else 55 else
51 { 56 {
52 - Last_LaserMode = g_SideLaser_Control; 57 + Last_LaserMode = g_SideLaser_RealMode;
53 SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF); 58 SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF);
54 SideLaser_RealCotrol(0, JZ_FLAGCODE_ON); 59 SideLaser_RealCotrol(0, JZ_FLAGCODE_ON);
55 continue; 60 continue;
@@ -59,14 +64,14 @@ static void *SideLaserControl_task(void *arg) @@ -59,14 +64,14 @@ static void *SideLaserControl_task(void *arg)
59 64
60 case SIDE_LASER_RED_AWALYS_ON: 65 case SIDE_LASER_RED_AWALYS_ON:
61 { 66 {
62 - if (Last_LaserMode == g_SideLaser_Control) 67 + if (Last_LaserMode == g_SideLaser_RealMode)
63 { 68 {
64 delayMs(10); 69 delayMs(10);
65 continue; 70 continue;
66 } 71 }
67 else 72 else
68 { 73 {
69 - Last_LaserMode = g_SideLaser_Control; 74 + Last_LaserMode = g_SideLaser_RealMode;
70 SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF); 75 SideLaser_RealCotrol(255, JZ_FLAGCODE_OFF);
71 SideLaser_RealCotrol(1, JZ_FLAGCODE_ON); 76 SideLaser_RealCotrol(1, JZ_FLAGCODE_ON);
72 continue; 77 continue;
@@ -77,14 +82,14 @@ static void *SideLaserControl_task(void *arg) @@ -77,14 +82,14 @@ static void *SideLaserControl_task(void *arg)
77 82
78 case SIDE_LASER_GREEN_AND_RED_AWALYS_ON: 83 case SIDE_LASER_GREEN_AND_RED_AWALYS_ON:
79 { 84 {
80 - if (Last_LaserMode == g_SideLaser_Control) 85 + if (Last_LaserMode == g_SideLaser_RealMode)
81 { 86 {
82 delayMs(10); 87 delayMs(10);
83 continue; 88 continue;
84 } 89 }
85 else 90 else
86 { 91 {
87 - Last_LaserMode = g_SideLaser_Control; 92 + Last_LaserMode = g_SideLaser_RealMode;
88 SideLaser_RealCotrol(255, JZ_FLAGCODE_ON); 93 SideLaser_RealCotrol(255, JZ_FLAGCODE_ON);
89 continue; 94 continue;
90 } 95 }
@@ -93,9 +98,9 @@ static void *SideLaserControl_task(void *arg) @@ -93,9 +98,9 @@ static void *SideLaserControl_task(void *arg)
93 98
94 case SIDE_LASER_GREEN_ADD_RED_TOGETHER_FLICKER: 99 case SIDE_LASER_GREEN_ADD_RED_TOGETHER_FLICKER:
95 { 100 {
96 - if (Last_LaserMode != g_SideLaser_Control) 101 + if (Last_LaserMode != g_SideLaser_RealMode)
97 { 102 {
98 - Last_LaserMode = g_SideLaser_Control; 103 + Last_LaserMode = g_SideLaser_RealMode;
99 } 104 }
100 105
101 if (status == JZ_FLAGCODE_OFF) 106 if (status == JZ_FLAGCODE_OFF)
@@ -116,9 +121,9 @@ static void *SideLaserControl_task(void *arg) @@ -116,9 +121,9 @@ static void *SideLaserControl_task(void *arg)
116 121
117 case SIDE_LASER_GREEN_ADD_RED_ALTERNATION_FLICKER: 122 case SIDE_LASER_GREEN_ADD_RED_ALTERNATION_FLICKER:
118 { 123 {
119 - if (Last_LaserMode != g_SideLaser_Control) 124 + if (Last_LaserMode != g_SideLaser_RealMode)
120 { 125 {
121 - Last_LaserMode = g_SideLaser_Control; 126 + Last_LaserMode = g_SideLaser_RealMode;
122 } 127 }
123 128
124 if (status == JZ_FLAGCODE_OFF) 129 if (status == JZ_FLAGCODE_OFF)
@@ -217,12 +222,23 @@ T_JZsdkReturnCode SideLaser_param(int flagcode, enum SideLaserParam paramflag, i @@ -217,12 +222,23 @@ T_JZsdkReturnCode SideLaser_param(int flagcode, enum SideLaserParam paramflag, i
217 { 222 {
218 switch (paramflag) 223 switch (paramflag)
219 { 224 {
  225 + case SIDELASER_REALMODE:
  226 + {
  227 + *value = g_SideLaser_RealMode;
  228 + }
  229 + break;
  230 +
220 case SIDELASER_CONTROL: 231 case SIDELASER_CONTROL:
221 { 232 {
222 - *value = g_SideLaser_Control; 233 + *value = g_SideLaserControl;
223 } 234 }
224 break; 235 break;
225 236
  237 + case SIDELASER_MODE:
  238 + {
  239 + *value = g_SideLaserMode;
  240 + }
  241 +
226 default: 242 default:
227 { 243 {
228 *value = JZ_FLAGCODE_OFF; 244 *value = JZ_FLAGCODE_OFF;
@@ -238,8 +254,32 @@ T_JZsdkReturnCode SideLaser_param(int flagcode, enum SideLaserParam paramflag, i @@ -238,8 +254,32 @@ T_JZsdkReturnCode SideLaser_param(int flagcode, enum SideLaserParam paramflag, i
238 { 254 {
239 case SIDELASER_CONTROL: 255 case SIDELASER_CONTROL:
240 { 256 {
241 - g_SideLaser_Control = *value;  
242 - JZSDK_LOG_INFO("设置激光模式:%d",g_SideLaser_Control); 257 + g_SideLaserControl = *value;
  258 + JZSDK_LOG_INFO("设置激光控制值:%d",g_SideLaserControl);
  259 + //从灯光的模式和控制计算得到实际控制值
  260 + if (g_SideLaserControl == JZ_FLAGCODE_OFF)
  261 + {
  262 + g_SideLaser_RealMode = SIDE_LASER_OFF;
  263 + }
  264 + else
  265 + {
  266 + g_SideLaser_RealMode = g_SideLaserMode+1;
  267 + }
  268 + }
  269 + break;
  270 +
  271 + case SIDELASER_MODE:
  272 + {
  273 + g_SideLaserMode = *value;
  274 + JZSDK_LOG_INFO("设置激光模式值:%d",g_SideLaserMode);
  275 + if (g_SideLaserControl == JZ_FLAGCODE_OFF)
  276 + {
  277 + g_SideLaser_RealMode = SIDE_LASER_OFF;
  278 + }
  279 + else
  280 + {
  281 + g_SideLaser_RealMode = g_SideLaserMode+1;
  282 + }
243 } 283 }
244 break; 284 break;
245 285
@@ -43,7 +43,9 @@ typedef enum T_SideLaserMode @@ -43,7 +43,9 @@ typedef enum T_SideLaserMode
43 * **********/ 43 * **********/
44 typedef enum SideLaserParam 44 typedef enum SideLaserParam
45 { 45 {
  46 + SIDELASER_REALMODE = 0x000000,
46 SIDELASER_CONTROL = 0x000001, 47 SIDELASER_CONTROL = 0x000001,
  48 + SIDELASER_MODE = 0x000002,
47 }SideLaserParam; 49 }SideLaserParam;
48 50
49 /* Exported types ------------------------------------------------------------*/ 51 /* Exported types ------------------------------------------------------------*/
@@ -1585,7 +1585,15 @@ T_JZsdkReturnCode JZsdk_Psdk_UI_io_SideLaserMode(int wheather_ChangeWidget, int @@ -1585,7 +1585,15 @@ T_JZsdkReturnCode JZsdk_Psdk_UI_io_SideLaserMode(int wheather_ChangeWidget, int
1585 //如果进行控制 1585 //如果进行控制
1586 if (wheather_control == JZ_FLAGCODE_ON) 1586 if (wheather_control == JZ_FLAGCODE_ON)
1587 { 1587 {
1588 - UIcontrol_SideLaser_Mode(DEVICE_PSDK, value); 1588 + if (value == 0)
  1589 + {
  1590 + UIcontrol_SideLaser_SetControl(DEVICE_PSDK, JZ_FLAGCODE_OFF);
  1591 + }
  1592 + else
  1593 + {
  1594 + UIcontrol_SideLaser_SetMode(DEVICE_PSDK, value);
  1595 + UIcontrol_SideLaser_SetControl(DEVICE_PSDK, JZ_FLAGCODE_ON);
  1596 + }
1589 } 1597 }
1590 1598
1591 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 1599 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -117,17 +117,17 @@ T_JZsdkReturnCode UIcontrol_SetVolume(int DeviceName,int value) @@ -117,17 +117,17 @@ T_JZsdkReturnCode UIcontrol_SetVolume(int DeviceName,int value)
117 //如果4G模块有启动 117 //如果4G模块有启动
118 if ( (JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 118 if ( (JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
119 { 119 {
120 - HalSend_type1Send_Reply_Volume(UART_4G, Volume); 120 + HalSend_type1Send_Reply_Volume(UART_4G, 0, Volume);
121 } 121 }
122 //如果设备1有启动 122 //如果设备1有启动
123 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 123 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
124 { 124 {
125 - HalSend_type1Send_Reply_Volume(UART_DEV_1, Volume); 125 + HalSend_type1Send_Reply_Volume(UART_DEV_1, 0, Volume);
126 } 126 }
127 //如果设备2有启动 127 //如果设备2有启动
128 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 128 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
129 { 129 {
130 - HalSend_type1Send_Reply_Volume(UART_DEV_2, Volume); 130 + HalSend_type1Send_Reply_Volume(UART_DEV_2, 0, Volume);
131 } 131 }
132 //如果psdk接口已经使用 132 //如果psdk接口已经使用
133 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 133 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -161,17 +161,17 @@ T_JZsdkReturnCode UIcontrol_Set_AudioPlayLoop(int DeviceName,int value) @@ -161,17 +161,17 @@ T_JZsdkReturnCode UIcontrol_Set_AudioPlayLoop(int DeviceName,int value)
161 //如果4G模块有启动 161 //如果4G模块有启动
162 if ( (JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 162 if ( (JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
163 { 163 {
164 - HalSend_type1Send_Reply_LoopPlayStatus(UART_4G, PlayLoopStatus); 164 + HalSend_type1Send_Reply_LoopPlayStatus(UART_4G, 0, PlayLoopStatus);
165 } 165 }
166 //如果设备1有启动 166 //如果设备1有启动
167 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 167 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
168 { 168 {
169 - HalSend_type1Send_Reply_LoopPlayStatus(UART_DEV_1, PlayLoopStatus); 169 + HalSend_type1Send_Reply_LoopPlayStatus(UART_DEV_1, 0, PlayLoopStatus);
170 } 170 }
171 //如果设备2有启动 171 //如果设备2有启动
172 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 172 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
173 { 173 {
174 - HalSend_type1Send_Reply_LoopPlayStatus(UART_DEV_2, PlayLoopStatus); 174 + HalSend_type1Send_Reply_LoopPlayStatus(UART_DEV_2, 0, PlayLoopStatus);
175 } 175 }
176 //如果psdk接口已经使用 176 //如果psdk接口已经使用
177 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 177 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -254,17 +254,17 @@ T_JZsdkReturnCode UIcontrol_OpusRealTimeVoice_Start(int DeviceName, int BitRate) @@ -254,17 +254,17 @@ T_JZsdkReturnCode UIcontrol_OpusRealTimeVoice_Start(int DeviceName, int BitRate)
254 //如果4G模块有启动 254 //如果4G模块有启动
255 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 255 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
256 { 256 {
257 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 257 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
258 } 258 }
259 //如果设备1有启动 259 //如果设备1有启动
260 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 260 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
261 { 261 {
262 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 262 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
263 } 263 }
264 //如果设备2有启动 264 //如果设备2有启动
265 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 265 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
266 { 266 {
267 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 267 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
268 } 268 }
269 //如果psdk接口已经使用 269 //如果psdk接口已经使用
270 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 270 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -315,17 +315,17 @@ T_JZsdkReturnCode UIcontrol_OpusRealTimeVoice_Close(int DeviceName) @@ -315,17 +315,17 @@ T_JZsdkReturnCode UIcontrol_OpusRealTimeVoice_Close(int DeviceName)
315 //如果4G模块有启动 315 //如果4G模块有启动
316 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 316 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
317 { 317 {
318 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 318 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
319 } 319 }
320 //如果设备1有启动 320 //如果设备1有启动
321 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 321 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
322 { 322 {
323 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 323 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
324 } 324 }
325 //如果设备2有启动 325 //如果设备2有启动
326 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 326 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
327 { 327 {
328 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 328 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
329 } 329 }
330 //如果psdk接口已经使用 330 //如果psdk接口已经使用
331 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 331 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -364,17 +364,17 @@ T_JZsdkReturnCode UIcontrol_PlayAudioFile(int DeviceName, char *MusicName, int M @@ -364,17 +364,17 @@ T_JZsdkReturnCode UIcontrol_PlayAudioFile(int DeviceName, char *MusicName, int M
364 //如果4G模块有启动 364 //如果4G模块有启动
365 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 365 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
366 { 366 {
367 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 367 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
368 } 368 }
369 //如果设备1有启动 369 //如果设备1有启动
370 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 370 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
371 { 371 {
372 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 372 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
373 } 373 }
374 //如果设备2有启动 374 //如果设备2有启动
375 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 375 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
376 { 376 {
377 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 377 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
378 } 378 }
379 //如果psdk接口已经使用 379 //如果psdk接口已经使用
380 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 380 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -408,17 +408,17 @@ T_JZsdkReturnCode UIcontrol_StopPlayAudio(int DeviceName) @@ -408,17 +408,17 @@ T_JZsdkReturnCode UIcontrol_StopPlayAudio(int DeviceName)
408 //如果4G模块有启动 408 //如果4G模块有启动
409 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 409 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
410 { 410 {
411 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 411 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
412 } 412 }
413 //如果设备1有启动 413 //如果设备1有启动
414 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 414 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
415 { 415 {
416 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 416 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
417 } 417 }
418 //如果设备2有启动 418 //如果设备2有启动
419 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 419 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
420 { 420 {
421 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 421 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
422 } 422 }
423 //如果psdk接口已经使用 423 //如果psdk接口已经使用
424 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 424 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -452,17 +452,17 @@ T_JZsdkReturnCode UIcontrol_PausePlayAudio(int DeviceName) @@ -452,17 +452,17 @@ T_JZsdkReturnCode UIcontrol_PausePlayAudio(int DeviceName)
452 //如果4G模块有启动 452 //如果4G模块有启动
453 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 453 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
454 { 454 {
455 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 455 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
456 } 456 }
457 //如果设备1有启动 457 //如果设备1有启动
458 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 458 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
459 { 459 {
460 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 460 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
461 } 461 }
462 //如果设备2有启动 462 //如果设备2有启动
463 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 463 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
464 { 464 {
465 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 465 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
466 } 466 }
467 //如果psdk接口已经使用 467 //如果psdk接口已经使用
468 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 468 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -497,17 +497,17 @@ T_JZsdkReturnCode UIcontrol_ContinuePlayAudio(int DeviceName) @@ -497,17 +497,17 @@ T_JZsdkReturnCode UIcontrol_ContinuePlayAudio(int DeviceName)
497 //如果4G模块有启动 497 //如果4G模块有启动
498 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 498 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
499 { 499 {
500 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 500 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
501 } 501 }
502 //如果设备1有启动 502 //如果设备1有启动
503 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 503 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
504 { 504 {
505 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 505 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
506 } 506 }
507 //如果设备2有启动 507 //如果设备2有启动
508 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 508 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
509 { 509 {
510 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 510 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
511 } 511 }
512 //如果psdk接口已经使用 512 //如果psdk接口已经使用
513 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 513 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -542,17 +542,17 @@ T_JZsdkReturnCode UIcontrol_LastSong(int DeviceName) @@ -542,17 +542,17 @@ T_JZsdkReturnCode UIcontrol_LastSong(int DeviceName)
542 //如果4G模块有启动 542 //如果4G模块有启动
543 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 543 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
544 { 544 {
545 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 545 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
546 } 546 }
547 //如果设备1有启动 547 //如果设备1有启动
548 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 548 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
549 { 549 {
550 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 550 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
551 } 551 }
552 //如果设备2有启动 552 //如果设备2有启动
553 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 553 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
554 { 554 {
555 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 555 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
556 } 556 }
557 //如果psdk接口已经使用 557 //如果psdk接口已经使用
558 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 558 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -586,17 +586,17 @@ T_JZsdkReturnCode UIcontrol_NextSong(int DeviceName) @@ -586,17 +586,17 @@ T_JZsdkReturnCode UIcontrol_NextSong(int DeviceName)
586 //如果4G模块有启动 586 //如果4G模块有启动
587 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 587 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
588 { 588 {
589 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 589 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
590 } 590 }
591 //如果设备1有启动 591 //如果设备1有启动
592 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 592 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
593 { 593 {
594 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 594 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
595 } 595 }
596 //如果设备2有启动 596 //如果设备2有启动
597 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 597 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
598 { 598 {
599 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 599 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
600 } 600 }
601 //如果psdk接口已经使用 601 //如果psdk接口已经使用
602 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 602 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -638,17 +638,17 @@ T_JZsdkReturnCode UIcontrol_Opus_PlayFixedFile(int DeviceName) @@ -638,17 +638,17 @@ T_JZsdkReturnCode UIcontrol_Opus_PlayFixedFile(int DeviceName)
638 //如果4G模块有启动 638 //如果4G模块有启动
639 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 639 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
640 { 640 {
641 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 641 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
642 } 642 }
643 //如果设备1有启动 643 //如果设备1有启动
644 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 644 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
645 { 645 {
646 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 646 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
647 } 647 }
648 //如果设备2有启动 648 //如果设备2有启动
649 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 649 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
650 { 650 {
651 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 651 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
652 } 652 }
653 //如果psdk接口已经使用 653 //如果psdk接口已经使用
654 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 654 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -685,17 +685,17 @@ T_JZsdkReturnCode UIcontrol_Pcm_PlayListFile(int DeviceName, unsigned char *File @@ -685,17 +685,17 @@ T_JZsdkReturnCode UIcontrol_Pcm_PlayListFile(int DeviceName, unsigned char *File
685 //如果4G模块有启动 685 //如果4G模块有启动
686 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 686 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
687 { 687 {
688 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 688 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
689 } 689 }
690 //如果设备1有启动 690 //如果设备1有启动
691 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 691 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
692 { 692 {
693 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 693 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
694 } 694 }
695 //如果设备2有启动 695 //如果设备2有启动
696 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 696 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
697 { 697 {
698 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 698 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
699 } 699 }
700 //如果psdk接口已经使用 700 //如果psdk接口已经使用
701 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 701 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -734,17 +734,17 @@ T_JZsdkReturnCode UIcontrol_TTS_Play(int DeviceName, char *data, int len) @@ -734,17 +734,17 @@ T_JZsdkReturnCode UIcontrol_TTS_Play(int DeviceName, char *data, int len)
734 //如果4G模块有启动 734 //如果4G模块有启动
735 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 735 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
736 { 736 {
737 - HalSend_type1Send_Send_PlayStatus(UART_4G, PlayStatus); 737 + HalSend_type1Send_Send_PlayStatus(UART_4G, 0, PlayStatus);
738 } 738 }
739 //如果设备1有启动 739 //如果设备1有启动
740 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 740 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
741 { 741 {
742 - HalSend_type1Send_Send_PlayStatus(UART_DEV_1, PlayStatus); 742 + HalSend_type1Send_Send_PlayStatus(UART_DEV_1, 0, PlayStatus);
743 } 743 }
744 //如果设备2有启动 744 //如果设备2有启动
745 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 745 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
746 { 746 {
747 - HalSend_type1Send_Send_PlayStatus(UART_DEV_2, PlayStatus); 747 + HalSend_type1Send_Send_PlayStatus(UART_DEV_2, 0, PlayStatus);
748 } 748 }
749 //如果psdk接口已经使用 749 //如果psdk接口已经使用
750 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 750 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -778,17 +778,17 @@ T_JZsdkReturnCode UIcontrol_Set_TTS_tone(int DeviceName,int value) @@ -778,17 +778,17 @@ T_JZsdkReturnCode UIcontrol_Set_TTS_tone(int DeviceName,int value)
778 //如果4G模块有启动 778 //如果4G模块有启动
779 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 779 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
780 { 780 {
781 - HalSend_type1Send_Reply_TTS_tone(UART_4G, TTS_tone); 781 + HalSend_type1Send_Reply_TTS_tone(UART_4G, 0, TTS_tone);
782 } 782 }
783 //如果设备1有启动 783 //如果设备1有启动
784 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 784 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
785 { 785 {
786 - HalSend_type1Send_Reply_TTS_tone(UART_DEV_1, TTS_tone); 786 + HalSend_type1Send_Reply_TTS_tone(UART_DEV_1, 0, TTS_tone);
787 } 787 }
788 //如果设备2有启动 788 //如果设备2有启动
789 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 789 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
790 { 790 {
791 - HalSend_type1Send_Reply_TTS_tone(UART_DEV_2, TTS_tone); 791 + HalSend_type1Send_Reply_TTS_tone(UART_DEV_2, 0, TTS_tone);
792 } 792 }
793 //如果psdk接口已经使用 793 //如果psdk接口已经使用
794 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 794 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -822,17 +822,17 @@ T_JZsdkReturnCode UIcontrol_Set_TTS_speed(int DeviceName,int value) @@ -822,17 +822,17 @@ T_JZsdkReturnCode UIcontrol_Set_TTS_speed(int DeviceName,int value)
822 //如果4G模块有启动 822 //如果4G模块有启动
823 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 823 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
824 { 824 {
825 - HalSend_type1Send_Reply_TTS_speed(UART_4G, TTS_speed); 825 + HalSend_type1Send_Reply_TTS_speed(UART_4G, 0, TTS_speed);
826 } 826 }
827 //如果设备1有启动 827 //如果设备1有启动
828 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 828 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
829 { 829 {
830 - HalSend_type1Send_Reply_TTS_speed(UART_DEV_1, TTS_speed); 830 + HalSend_type1Send_Reply_TTS_speed(UART_DEV_1, 0, TTS_speed);
831 } 831 }
832 //如果设备2有启动 832 //如果设备2有启动
833 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 833 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
834 { 834 {
835 - HalSend_type1Send_Reply_TTS_speed(UART_DEV_2, TTS_speed); 835 + HalSend_type1Send_Reply_TTS_speed(UART_DEV_2, 0, TTS_speed);
836 } 836 }
837 //如果psdk接口已经使用 837 //如果psdk接口已经使用
838 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 838 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -910,17 +910,17 @@ T_JZsdkReturnCode UIcontrol_Set_GimbalPitchAngle(int DeviceName,int value) @@ -910,17 +910,17 @@ T_JZsdkReturnCode UIcontrol_Set_GimbalPitchAngle(int DeviceName,int value)
910 //如果4G模块有启动 910 //如果4G模块有启动
911 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 911 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
912 { 912 {
913 - HalSend_type1Send_Reply_GimbalPitchAngle(UART_4G, GimbalPitchAngle); 913 + HalSend_type1Send_Reply_GimbalPitchAngle(UART_4G, 0, GimbalPitchAngle);
914 } 914 }
915 //如果设备1有启动 915 //如果设备1有启动
916 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 916 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
917 { 917 {
918 - HalSend_type1Send_Reply_GimbalPitchAngle(UART_DEV_1, GimbalPitchAngle); 918 + HalSend_type1Send_Reply_GimbalPitchAngle(UART_DEV_1, 0, GimbalPitchAngle);
919 } 919 }
920 //如果设备2有启动 920 //如果设备2有启动
921 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 921 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
922 { 922 {
923 - //HalSend_type1Send_Reply_GimbalPitchAngle(UART_DEV_2, GimbalPitchAngle); 923 + //HalSend_type1Send_Reply_GimbalPitchAngle(UART_DEV_2, 0, GimbalPitchAngle);
924 } 924 }
925 //如果psdk接口已经使用 925 //如果psdk接口已经使用
926 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 926 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -1805,17 +1805,17 @@ T_JZsdkReturnCode UIcontrol_ObtainGimbal_Pitch(int DeviceName, int GimbalPitchAn @@ -1805,17 +1805,17 @@ T_JZsdkReturnCode UIcontrol_ObtainGimbal_Pitch(int DeviceName, int GimbalPitchAn
1805 //如果4G模块有启动 1805 //如果4G模块有启动
1806 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) ) 1806 if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
1807 { 1807 {
1808 - HalSend_type1Send_Reply_GimbalPitchAngle(UART_4G, GimbalPitchAngle); 1808 + HalSend_type1Send_Reply_GimbalPitchAngle(UART_4G, 0, GimbalPitchAngle);
1809 } 1809 }
1810 //如果设备1有启动 1810 //如果设备1有启动
1811 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) ) 1811 if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
1812 { 1812 {
1813 - HalSend_type1Send_Reply_GimbalPitchAngle(UART_DEV_1, GimbalPitchAngle); 1813 + HalSend_type1Send_Reply_GimbalPitchAngle(UART_DEV_1, 0, GimbalPitchAngle);
1814 } 1814 }
1815 //如果设备2有启动 1815 //如果设备2有启动
1816 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) 1816 if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
1817 { 1817 {
1818 - HalSend_type1Send_Reply_GimbalPitchAngle(UART_DEV_2, GimbalPitchAngle); 1818 + HalSend_type1Send_Reply_GimbalPitchAngle(UART_DEV_2, 0, GimbalPitchAngle);
1819 } 1819 }
1820 //如果psdk接口已经使用 1820 //如果psdk接口已经使用
1821 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 1821 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
@@ -2481,7 +2481,7 @@ T_JZsdkReturnCode UIcontrol_DeviceMessage_SetMessageMode(int value) @@ -2481,7 +2481,7 @@ T_JZsdkReturnCode UIcontrol_DeviceMessage_SetMessageMode(int value)
2481 * 2481 *
2482 * 2482 *
2483 **************************************************************************************************************************************************************/ 2483 **************************************************************************************************************************************************************/
2484 -T_JZsdkReturnCode UIcontrol_SideLaser_Mode(int DeviceName, int value) 2484 +T_JZsdkReturnCode UIcontrol_SideLaser_SetControl(int DeviceName, int value)
2485 { 2485 {
2486 T_JZsdkReturnCode ret; 2486 T_JZsdkReturnCode ret;
2487 #ifdef SIDE_LASER_STATUS_ON 2487 #ifdef SIDE_LASER_STATUS_ON
@@ -2507,7 +2507,48 @@ T_JZsdkReturnCode UIcontrol_SideLaser_Mode(int DeviceName, int value) @@ -2507,7 +2507,48 @@ T_JZsdkReturnCode UIcontrol_SideLaser_Mode(int DeviceName, int value)
2507 //如果psdk接口已经使用 2507 //如果psdk接口已经使用
2508 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) 2508 if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
2509 { 2509 {
2510 - JZsdk_Psdk_UI_io_SideLaserMode(JZ_FLAGCODE_ON, JZ_FLAGCODE_OFF, value); 2510 + int RealMode;
  2511 + //psdk的ui是开关和模式一起的，所以需要另外获取
  2512 + SideLaser_param(JZ_FLAGCODE_GET, SIDELASER_REALMODE, &RealMode);
  2513 + JZsdk_Psdk_UI_io_SideLaserMode(JZ_FLAGCODE_ON, JZ_FLAGCODE_OFF, RealMode);
  2514 + }
  2515 +
  2516 + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  2517 +#else
  2518 + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
  2519 +#endif
  2520 +}
  2521 +
  2522 +T_JZsdkReturnCode UIcontrol_SideLaser_SetMode(int DeviceName, int value)
  2523 +{
  2524 + T_JZsdkReturnCode ret;
  2525 +#ifdef SIDE_LASER_STATUS_ON
  2526 + //设置参数
  2527 + ret = SideLaser_param(JZ_FLAGCODE_SET, SIDELASER_MODE, &value);
  2528 + if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  2529 + {
  2530 + return ret;
  2531 + }
  2532 +
  2533 + //2、通知其他设备变化
  2534 + if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
  2535 + {
  2536 + }
  2537 + //如果设备1有启动
  2538 + if ( (JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1) )
  2539 + {
  2540 + }
  2541 + //如果设备2有启动
  2542 + if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) )
  2543 + {
  2544 + }
  2545 + //如果psdk接口已经使用
  2546 + if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
  2547 + {
  2548 + int RealMode;
  2549 + //psdk的ui是开关和模式一起的，所以需要另外获取
  2550 + SideLaser_param(JZ_FLAGCODE_GET, SIDELASER_REALMODE, &RealMode);
  2551 + JZsdk_Psdk_UI_io_SideLaserMode(JZ_FLAGCODE_ON, JZ_FLAGCODE_OFF, RealMode);
2511 } 2552 }
2512 2553
2513 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 2554 return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -141,7 +141,8 @@ T_JZsdkReturnCode UIcontrol_Broadcast_PlayStatus_end(); @@ -141,7 +141,8 @@ T_JZsdkReturnCode UIcontrol_Broadcast_PlayStatus_end();
141 T_JZsdkReturnCode UIcontrol_Broadcast_SecondaryDeviceName(int name); 141 T_JZsdkReturnCode UIcontrol_Broadcast_SecondaryDeviceName(int name);
142 142
143 //激光 143 //激光
144 -T_JZsdkReturnCode UIcontrol_SideLaser_Mode(int DeviceName, int value); 144 +T_JZsdkReturnCode UIcontrol_SideLaser_SetControl(int DeviceName, int value);
  145 +T_JZsdkReturnCode UIcontrol_SideLaser_SetMode(int DeviceName, int value);
145 146
146 147
147 148
@@ -28,18 +28,18 @@ The CXX compiler identification is GNU, found in "/mnt/hgfs/share/JZSDK_Linux/pr @@ -28,18 +28,18 @@ The CXX compiler identification is GNU, found in "/mnt/hgfs/share/JZSDK_Linux/pr
28 Detecting C compiler ABI info compiled with the following output: 28 Detecting C compiler ABI info compiled with the following output:
29 Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp 29 Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp
30 30
31 -Run Build Command(s):/usr/bin/make -f Makefile cmTC_75746/fast && /usr/bin/make -f CMakeFiles/cmTC_75746.dir/build.make CMakeFiles/cmTC_75746.dir/build 31 +Run Build Command(s):/usr/bin/make -f Makefile cmTC_05aaf/fast && /usr/bin/make -f CMakeFiles/cmTC_05aaf.dir/build.make CMakeFiles/cmTC_05aaf.dir/build
32 make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' 32 make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp'
33 -Building C object CMakeFiles/cmTC_75746.dir/CMakeCCompilerABI.c.o  
34 -/usr/bin/cc -v -o CMakeFiles/cmTC_75746.dir/CMakeCCompilerABI.c.o -c /usr/local/share/cmake-3.24/Modules/CMakeCCompilerABI.c 33 +Building C object CMakeFiles/cmTC_05aaf.dir/CMakeCCompilerABI.c.o
  34 +/usr/bin/cc -v -o CMakeFiles/cmTC_05aaf.dir/CMakeCCompilerABI.c.o -c /usr/local/share/cmake-3.24/Modules/CMakeCCompilerABI.c
35 Using built-in specs. 35 Using built-in specs.
36 COLLECT_GCC=/usr/bin/cc 36 COLLECT_GCC=/usr/bin/cc
37 Target: x86_64-linux-gnu 37 Target: x86_64-linux-gnu
38 Configured with: ../src/configure -v --with-pkgversion='Ubuntu 5.4.0-6ubuntu1~16.04.12' --with-bugurl=file:///usr/share/doc/gcc-5/README.Bugs --enable-languages=c,ada,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-5 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-libmpx --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-5-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-5-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-5-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu 38 Configured with: ../src/configure -v --with-pkgversion='Ubuntu 5.4.0-6ubuntu1~16.04.12' --with-bugurl=file:///usr/share/doc/gcc-5/README.Bugs --enable-languages=c,ada,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-5 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-libmpx --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-5-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-5-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-5-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
39 Thread model: posix 39 Thread model: posix
40 gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.12) 40 gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.12)
41 -COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_75746.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'  
42 - /usr/lib/gcc/x86_64-linux-gnu/5/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/local/share/cmake-3.24/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_75746.dir/CMakeCCompilerABI.c.o -version -fstack-protector-strong -Wformat -Wformat-security -o /tmp/ccLoxYGB.s 41 +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_05aaf.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
  42 + /usr/lib/gcc/x86_64-linux-gnu/5/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/local/share/cmake-3.24/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_05aaf.dir/CMakeCCompilerABI.c.o -version -fstack-protector-strong -Wformat -Wformat-security -o /tmp/ccgfaTwH.s
43 GNU C11 (Ubuntu 5.4.0-6ubuntu1~16.04.12) version 5.4.0 20160609 (x86_64-linux-gnu) 43 GNU C11 (Ubuntu 5.4.0-6ubuntu1~16.04.12) version 5.4.0 20160609 (x86_64-linux-gnu)
44 compiled by GNU C version 5.4.0 20160609, GMP version 6.1.0, MPFR version 3.1.4, MPC version 1.0.3 44 compiled by GNU C version 5.4.0 20160609, GMP version 6.1.0, MPFR version 3.1.4, MPC version 1.0.3
45 warning: GMP header version 6.1.0 differs from library version 6.1.2. 45 warning: GMP header version 6.1.0 differs from library version 6.1.2.
@@ -59,15 +59,15 @@ GNU C11 (Ubuntu 5.4.0-6ubuntu1~16.04.12) version 5.4.0 20160609 (x86_64-linux-gn @@ -59,15 +59,15 @@ GNU C11 (Ubuntu 5.4.0-6ubuntu1~16.04.12) version 5.4.0 20160609 (x86_64-linux-gn
59 warning: GMP header version 6.1.0 differs from library version 6.1.2. 59 warning: GMP header version 6.1.0 differs from library version 6.1.2.
60 GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072 60 GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
61 Compiler executable checksum: 8087146d2ee737d238113fb57fabb1f2 61 Compiler executable checksum: 8087146d2ee737d238113fb57fabb1f2
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157 - link line: [ /usr/lib/gcc/x86_64-linux-gnu/5/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/5/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper -plugin-opt=-fresolution=/tmp/ccEQv1JE.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --sysroot=/ --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -z relro -o cmTC_75746 /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o -L/usr/lib/gcc/x86_64-linux-gnu/5 -L/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/5/../../.. CMakeFiles/cmTC_75746.dir/CMakeCCompilerABI.c.o -lgcc --as-needed -lgcc_s --no-as-needed -lc -lgcc --as-needed -lgcc_s --no-as-needed /usr/lib/gcc/x86_64-linux-gnu/5/crtend.o /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crtn.o] 156 + ignore line: [COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_05aaf' '-mtune=generic' '-march=x86-64']
  157 + link line: [ /usr/lib/gcc/x86_64-linux-gnu/5/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/5/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper -plugin-opt=-fresolution=/tmp/ccpvjJbK.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --sysroot=/ --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -z relro -o cmTC_05aaf /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o -L/usr/lib/gcc/x86_64-linux-gnu/5 -L/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/5/../../.. CMakeFiles/cmTC_05aaf.dir/CMakeCCompilerABI.c.o -lgcc --as-needed -lgcc_s --no-as-needed -lc -lgcc --as-needed -lgcc_s --no-as-needed /usr/lib/gcc/x86_64-linux-gnu/5/crtend.o /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crtn.o]
158 arg [/usr/lib/gcc/x86_64-linux-gnu/5/collect2] ==> ignore 158 arg [/usr/lib/gcc/x86_64-linux-gnu/5/collect2] ==> ignore
159 arg [-plugin] ==> ignore 159 arg [-plugin] ==> ignore
160 arg [/usr/lib/gcc/x86_64-linux-gnu/5/liblto_plugin.so] ==> ignore 160 arg [/usr/lib/gcc/x86_64-linux-gnu/5/liblto_plugin.so] ==> ignore
161 arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper] ==> ignore 161 arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper] ==> ignore
162 - arg [-plugin-opt=-fresolution=/tmp/ccEQv1JE.res] ==> ignore 162 + arg [-plugin-opt=-fresolution=/tmp/ccpvjJbK.res] ==> ignore
163 arg [-plugin-opt=-pass-through=-lgcc] ==> ignore 163 arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
164 arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore 164 arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
165 arg [-plugin-opt=-pass-through=-lc] ==> ignore 165 arg [-plugin-opt=-pass-through=-lc] ==> ignore
@@ -177,7 +177,7 @@ Parsed C implicit link information from above output: @@ -177,7 +177,7 @@ Parsed C implicit link information from above output:
177 arg [/lib64/ld-linux-x86-64.so.2] ==> ignore 177 arg [/lib64/ld-linux-x86-64.so.2] ==> ignore
178 arg [-zrelro] ==> ignore 178 arg [-zrelro] ==> ignore
179 arg [-o] ==> ignore 179 arg [-o] ==> ignore
180 - arg [cmTC_75746] ==> ignore 180 + arg [cmTC_05aaf] ==> ignore
181 arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o] 181 arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o]
182 arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o] 182 arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o]
183 arg [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o] 183 arg [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o]
@@ -189,7 +189,7 @@ Parsed C implicit link information from above output: @@ -189,7 +189,7 @@ Parsed C implicit link information from above output:
189 arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] 189 arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
190 arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] 190 arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
191 arg [-L/usr/lib/gcc/x86_64-linux-gnu/5/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/5/../../..] 191 arg [-L/usr/lib/gcc/x86_64-linux-gnu/5/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/5/../../..]
192 - arg [CMakeFiles/cmTC_75746.dir/CMakeCCompilerABI.c.o] ==> ignore 192 + arg [CMakeFiles/cmTC_05aaf.dir/CMakeCCompilerABI.c.o] ==> ignore
193 arg [-lgcc] ==> lib [gcc] 193 arg [-lgcc] ==> lib [gcc]
194 arg [--as-needed] ==> ignore 194 arg [--as-needed] ==> ignore
195 arg [-lgcc_s] ==> lib [gcc_s] 195 arg [-lgcc_s] ==> lib [gcc_s]
@@ -221,18 +221,18 @@ Parsed C implicit link information from above output: @@ -221,18 +221,18 @@ Parsed C implicit link information from above output:
221 Detecting CXX compiler ABI info compiled with the following output: 221 Detecting CXX compiler ABI info compiled with the following output:
222 Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp 222 Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp
223 223
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225 make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' 225 make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp'
226 -Building CXX object CMakeFiles/cmTC_5e372.dir/CMakeCXXCompilerABI.cpp.o  
227 -/usr/bin/c++ -v -o CMakeFiles/cmTC_5e372.dir/CMakeCXXCompilerABI.cpp.o -c /usr/local/share/cmake-3.24/Modules/CMakeCXXCompilerABI.cpp 226 +Building CXX object CMakeFiles/cmTC_05631.dir/CMakeCXXCompilerABI.cpp.o
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228 Using built-in specs. 228 Using built-in specs.
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230 Target: x86_64-linux-gnu 230 Target: x86_64-linux-gnu
231 Configured with: ../src/configure -v --with-pkgversion='Ubuntu 5.4.0-6ubuntu1~16.04.12' --with-bugurl=file:///usr/share/doc/gcc-5/README.Bugs --enable-languages=c,ada,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-5 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-libmpx --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-5-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-5-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-5-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu 231 Configured with: ../src/configure -v --with-pkgversion='Ubuntu 5.4.0-6ubuntu1~16.04.12' --with-bugurl=file:///usr/share/doc/gcc-5/README.Bugs --enable-languages=c,ada,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-5 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-libmpx --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-5-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-5-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-5-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
232 Thread model: posix 232 Thread model: posix
233 gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.12) 233 gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.12)
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235 - /usr/lib/gcc/x86_64-linux-gnu/5/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/local/share/cmake-3.24/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_5e372.dir/CMakeCXXCompilerABI.cpp.o -version -fstack-protector-strong -Wformat -Wformat-security -o /tmp/ccZjFFIQ.s 234 +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_05631.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
  235 + /usr/lib/gcc/x86_64-linux-gnu/5/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/local/share/cmake-3.24/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_05631.dir/CMakeCXXCompilerABI.cpp.o -version -fstack-protector-strong -Wformat -Wformat-security -o /tmp/ccweF26V.s
236 GNU C++ (Ubuntu 5.4.0-6ubuntu1~16.04.12) version 5.4.0 20160609 (x86_64-linux-gnu) 236 GNU C++ (Ubuntu 5.4.0-6ubuntu1~16.04.12) version 5.4.0 20160609 (x86_64-linux-gnu)
237 compiled by GNU C version 5.4.0 20160609, GMP version 6.1.0, MPFR version 3.1.4, MPC version 1.0.3 237 compiled by GNU C version 5.4.0 20160609, GMP version 6.1.0, MPFR version 3.1.4, MPC version 1.0.3
238 warning: GMP header version 6.1.0 differs from library version 6.1.2. 238 warning: GMP header version 6.1.0 differs from library version 6.1.2.
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257 GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072 257 GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
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260 - as -v --64 -o CMakeFiles/cmTC_5e372.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccZjFFIQ.s 259 +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_05631.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
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261 GNU assembler version 2.26.1 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.26.1 261 GNU assembler version 2.26.1 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.26.1
262 COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/ 262 COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/
263 LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/5/../../../:/lib/:/usr/lib/ 263 LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/5/../../../:/lib/:/usr/lib/
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266 -/usr/local/bin/cmake -E cmake_link_script CMakeFiles/cmTC_5e372.dir/link.txt --verbose=1  
267 -/usr/bin/c++ -v -rdynamic CMakeFiles/cmTC_5e372.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_5e372 264 +COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_05631.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
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@@ -274,8 +274,8 @@ Thread model: posix @@ -274,8 +274,8 @@ Thread model: posix
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275 COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/ 275 COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/5/:/usr/lib/gcc/x86_64-linux-gnu/
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389 arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o] 389 arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o]
390 arg [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o] 390 arg [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o]
@@ -396,7 +396,7 @@ Parsed CXX implicit link information from above output: @@ -396,7 +396,7 @@ Parsed CXX implicit link information from above output:
396 arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] 396 arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
397 arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] 397 arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
398 arg [-L/usr/lib/gcc/x86_64-linux-gnu/5/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/5/../../..] 398 arg [-L/usr/lib/gcc/x86_64-linux-gnu/5/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/5/../../..]
399 - arg [CMakeFiles/cmTC_5e372.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore 399 + arg [CMakeFiles/cmTC_05631.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
400 arg [-lstdc++] ==> lib [stdc++] 400 arg [-lstdc++] ==> lib [stdc++]
401 arg [-lm] ==> lib [m] 401 arg [-lm] ==> lib [m]
402 arg [-lgcc_s] ==> lib [gcc_s] 402 arg [-lgcc_s] ==> lib [gcc_s]
@@ -76,6 +76,8 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = { @@ -76,6 +76,8 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
76 {DJI_CAMERA_TYPE_H30T, "H30T Camera"}, 76 {DJI_CAMERA_TYPE_H30T, "H30T Camera"},
77 {DJI_CAMERA_TYPE_M4T, "M4T Camera"}, 77 {DJI_CAMERA_TYPE_M4T, "M4T Camera"},
78 {DJI_CAMERA_TYPE_M4E, "M4E Camera"}, 78 {DJI_CAMERA_TYPE_M4E, "M4E Camera"},
  79 + {DJI_CAMERA_TYPE_M4TD, "M4TD Camera"},
  80 + {DJI_CAMERA_TYPE_M4D, "M4D Camera"},
79 }; 81 };
80 82
81 static FILE *s_downloadMediaFile = NULL; 83 static FILE *s_downloadMediaFile = NULL;
@@ -855,6 +857,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition, @@ -855,6 +857,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
855 || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType 857 || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
856 || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType 858 || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
857 || DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType 859 || DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
  860 + || DJI_CAMERA_TYPE_M4TD == cameraType || DJI_CAMERA_TYPE_M4D == cameraType
858 ) { 861 ) {
859 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.", 862 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
860 mountPosition); 863 mountPosition);
@@ -898,6 +901,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition, @@ -898,6 +901,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
898 || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType 901 || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
899 || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType 902 || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
900 || DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType 903 || DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
  904 + || DJI_CAMERA_TYPE_M4TD == cameraType || DJI_CAMERA_TYPE_M4D == cameraType
901 ) { 905 ) {
902 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.", 906 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
903 mountPosition); 907 mountPosition);
@@ -1198,6 +1202,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition, @@ -1198,6 +1202,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
1198 || DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType 1202 || DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
1199 || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType 1203 || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
1200 || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType 1204 || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
  1205 + || DJI_CAMERA_TYPE_M4TD == cameraType || DJI_CAMERA_TYPE_M4D == cameraType
1201 ) { 1206 ) {
1202 USER_LOG_INFO("Camera type %s does not support night scene mode!", 1207 USER_LOG_INFO("Camera type %s does not support night scene mode!",
1203 s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr); 1208 s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
@@ -1933,7 +1938,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition, @@ -1933,7 +1938,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
1933 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 || 1938 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
1934 cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D || 1939 cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
1935 cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 || 1940 cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 ||
1936 - cameraType == DJI_CAMERA_TYPE_M4T) { 1941 + cameraType == DJI_CAMERA_TYPE_M4T || cameraType == DJI_CAMERA_TYPE_M4TD) {
1937 USER_LOG_WARN("Camera type %s don't support FFC function.", 1942 USER_LOG_WARN("Camera type %s don't support FFC function.",
1938 s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr); 1943 s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
1939 goto exitCameraModule; 1944 goto exitCameraModule;
@@ -1980,7 +1985,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition, @@ -1980,7 +1985,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
1980 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 || 1985 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
1981 cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D || 1986 cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
1982 cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 || 1987 cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 ||
1983 - cameraType == DJI_CAMERA_TYPE_M4T) { 1988 + cameraType == DJI_CAMERA_TYPE_M4T || cameraType == DJI_CAMERA_TYPE_M4TD) {
1984 USER_LOG_WARN("Camera type %s don't support infrared function.", 1989 USER_LOG_WARN("Camera type %s don't support infrared function.",
1985 s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr); 1990 s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
1986 goto exitCameraModule; 1991 goto exitCameraModule;
@@ -59,8 +59,11 @@ static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len); @@ -59,8 +59,11 @@ static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len);
59 static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len); 59 static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len);
60 static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len); 60 static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len);
61 static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len); 61 static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len);
  62 +static T_DjiReturnCode ReceiveDataFromPayload1(const uint8_t *data, uint16_t len);
  63 +static T_DjiReturnCode ReceiveDataFromPayload2(const uint8_t *data, uint16_t len);
  64 +static T_DjiReturnCode ReceiveDataFromPayload3(const uint8_t *data, uint16_t len);
62 void music_data(const uint8_t *data, uint16_t len,int get_equipment); 65 void music_data(const uint8_t *data, uint16_t len,int get_equipment);
63 - static uint16_t crc16bitbybit(uint8_t *ptr, uint16_t len); 66 +
64 /* Private variables ---------------------------------------------------------*/ 67 /* Private variables ---------------------------------------------------------*/
65 static T_DjiTaskHandle s_userDataTransmissionThread; 68 static T_DjiTaskHandle s_userDataTransmissionThread;
66 static T_DjiAircraftInfoBaseInfo s_aircraftInfoBaseInfo; 69 static T_DjiAircraftInfoBaseInfo s_aircraftInfoBaseInfo;
@@ -98,7 +101,9 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void) @@ -98,7 +101,9 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
98 if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 || 101 if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
99 s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T || 102 s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
100 s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D || 103 s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
101 - s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) { 104 + s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD ||
  105 + s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4D ||
  106 + s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4TD) {
102 channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API; 107 channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
103 djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromCloud); 108 djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromCloud);
104 if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { 109 if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -135,14 +140,34 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void) @@ -135,14 +140,34 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
135 } 140 }
136 141
137 } else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT 142 } else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT
138 - || DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) { 143 + || DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition)
  144 + {
139 channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1; 145 channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
140 djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload); 146 djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload);
141 - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {  
142 - USER_LOG_ERROR("register receive data from payload NO1 error.");  
143 - return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; 147 +
  148 + //djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload1);
  149 + //if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  150 + // USER_LOG_ERROR("register receive data from payload NO1 error.");
  151 + // return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  152 + //}
  153 +
  154 + //channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO2;
  155 + //djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload2);
  156 + //if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  157 + // USER_LOG_ERROR("register receive data from payload NO1 error.");
  158 + // return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  159 + //}
  160 +
  161 + //channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO3;
  162 + //djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload3);
  163 + //if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  164 + // USER_LOG_ERROR("register receive data from payload NO1 error.");
  165 + // return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  166 + //}
  167 +
144 } 168 }
145 - } else { 169 + else
  170 + {
146 return DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT; 171 return DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT;
147 } 172 }
148 173
@@ -213,7 +238,9 @@ static void *UserDataTransmission_Task(void *arg) @@ -213,7 +238,9 @@ static void *UserDataTransmission_Task(void *arg)
213 if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 || 238 if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
214 s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T || 239 s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
215 s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D || 240 s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
216 - s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) { 241 + s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD ||
  242 + s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4D ||
  243 + s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4TD ) {
217 channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API; 244 channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
218 djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent)); 245 djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
219 if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) 246 if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
@@ -262,8 +289,7 @@ static void *UserDataTransmission_Task(void *arg) @@ -262,8 +289,7 @@ static void *UserDataTransmission_Task(void *arg)
262 USER_LOG_ERROR("get data stream state error."); 289 USER_LOG_ERROR("get data stream state error.");
263 } 290 }
264 } 291 }
265 - } else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT  
266 - || DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) { 292 + } else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
267 channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1; 293 channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
268 djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent)); 294 djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
269 if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) 295 if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
@@ -394,6 +420,24 @@ static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len) @@ -394,6 +420,24 @@ static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len)
394 return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; 420 return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
395 } 421 }
396 422
  423 +static T_DjiReturnCode ReceiveDataFromPayload1(const uint8_t *data, uint16_t len)
  424 +{
  425 + USER_LOG_INFO("Receive from payload on port 1");
  426 + return ReceiveDataFromPayload(data, len);
  427 +}
  428 +
  429 +static T_DjiReturnCode ReceiveDataFromPayload2(const uint8_t *data, uint16_t len)
  430 +{
  431 + USER_LOG_INFO("Receive from payload on port 2");
  432 + return ReceiveDataFromPayload(data, len);
  433 +}
  434 +
  435 +static T_DjiReturnCode ReceiveDataFromPayload3(const uint8_t *data, uint16_t len)
  436 +{
  437 + USER_LOG_INFO("Receive from payload on port 3");
  438 + return ReceiveDataFromPayload(data, len);
  439 +}
  440 +
397 static int DebugModeCheck(unsigned char *data, unsigned int len) 441 static int DebugModeCheck(unsigned char *data, unsigned int len)
398 { 442 {
399 if (len == sizeof("#debugmode#") - 1) // 减去终止符 '\0' 443 if (len == sizeof("#debugmode#") - 1) // 减去终止符 '\0'
@@ -424,6 +468,7 @@ static int DebugModeCheck(unsigned char *data, unsigned int len) @@ -424,6 +468,7 @@ static int DebugModeCheck(unsigned char *data, unsigned int len)
424 } 468 }
425 469
426 470
  471 +
427 //根据不同的通道再加上判断各个功能标志位来做事 1是通道5 2是通道4 472 //根据不同的通道再加上判断各个功能标志位来做事 1是通道5 2是通道4
428 void music_data(const uint8_t *data, uint16_t len,int get_equipment) 473 void music_data(const uint8_t *data, uint16_t len,int get_equipment)
429 { 474 {
@@ -468,31 +513,4 @@ void music_data(const uint8_t *data, uint16_t len,int get_equipment) @@ -468,31 +513,4 @@ void music_data(const uint8_t *data, uint16_t len,int get_equipment)
468 513
469 } 514 }
470 515
471 - static uint16_t crc16bitbybit(uint8_t *ptr, uint16_t len)  
472 -{  
473 - uint8_t i;  
474 - uint16_t crc = 0xffff;  
475 - uint16_t polynom = 0xA001;//CRC校验  
476 - if (len == 0)  
477 - {  
478 - len = 1;  
479 - }  
480 - while (len--)  
481 - {  
482 - crc ^= *ptr;  
483 - for (int i = 0; i<8; i++)  
484 - {  
485 - if (crc & 1)  
486 - {  
487 - crc >>= 1;  
488 - crc ^= polynom;  
489 - }  
490 - else  
491 - {  
492 - crc >>= 1;  
493 - }  
494 - }  
495 - ptr++;  
496 - }  
497 - return crc;  
498 -}  
  516 +/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
@@ -548,10 +548,8 @@ static T_DjiReturnCode DjiTest_FcSubscriptionReceiveQuaternionCallback(const uin @@ -548,10 +548,8 @@ static T_DjiReturnCode DjiTest_FcSubscriptionReceiveQuaternionCallback(const uin
548 roll = (dji_f64_t) atan2f(2 * quaternion->q2 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q1, 548 roll = (dji_f64_t) atan2f(2 * quaternion->q2 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q1,
549 -2 * quaternion->q1 * quaternion->q1 - 2 * quaternion->q2 * quaternion->q2 + 1) * 57.3; 549 -2 * quaternion->q1 * quaternion->q1 - 2 * quaternion->q2 * quaternion->q2 + 1) * 57.3;
550 yaw = (dji_f64_t) atan2f(2 * quaternion->q1 * quaternion->q2 + 2 * quaternion->q0 * quaternion->q3, 550 yaw = (dji_f64_t) atan2f(2 * quaternion->q1 * quaternion->q2 + 2 * quaternion->q0 * quaternion->q3,
551 - -2 * quaternion->q2 * quaternion->q2 - 2 * quaternion->q3 * quaternion->q3 + 1) *57.3;  
552 -  
553 -  
554 - //printf("回调：pitch%d\n",(int)pitch); 551 + -2 * quaternion->q2 * quaternion->q2 - 2 * quaternion->q3 * quaternion->q3 + 1) *
  552 + 57.3;
555 553
556 //飞机自身角度 554 //飞机自身角度
557 JZsdk_Psdk_Ui_io_Gimbal_PitchSelfangleMode( ( (int)pitch * 10)); 555 JZsdk_Psdk_Ui_io_Gimbal_PitchSelfangleMode( ( (int)pitch * 10));
  1 +/**
  2 + ********************************************************************
  3 + * @file test_fc_subscription.c
  4 + * @brief
  5 + *
  6 + * @copyright (c) 2021 DJI. All rights reserved.
  7 + *
  8 + * All information contained herein is, and remains, the property of DJI.
  9 + * The intellectual and technical concepts contained herein are proprietary
  10 + * to DJI and may be covered by U.S. and foreign patents, patents in process,
  11 + * and protected by trade secret or copyright law. Dissemination of this
  12 + * information, including but not limited to data and other proprietary
  13 + * material(s) incorporated within the information, in any form, is strictly
  14 + * prohibited without the express written consent of DJI.
  15 + *
  16 + * If you receive this source code without DJI’s authorization, you may not
  17 + * further disseminate the information, and you must immediately remove the
  18 + * source code and notify DJI of its removal. DJI reserves the right to pursue
  19 + * legal actions against you for any loss(es) or damage(s) caused by your
  20 + * failure to do so.
  21 + *
  22 + *********************************************************************
  23 + */
  24 +
  25 +/*
  26 + 1.消息订阅初始化
  27 + 2.构造回调函数，通过构造回调函数接收飞行器推送的信息。
  28 +*/
  29 +
  30 +/* Includes ------------------------------------------------------------------*/
  31 +#include <utils/util_misc.h>
  32 +#include <math.h>
  33 +#include "test_fc_subscription.h"
  34 +#include "dji_logger.h"
  35 +#include "dji_platform.h"
  36 +#include "widget_interaction_test/test_widget_interaction.h"
  37 +#include "../widget/test_widget.h"
  38 +#include "dji_aircraft_info.h"
  39 +
  40 +#include "version_choose.h"
  41 +#include "Psdk_UI_io.h"
  42 +#include "gimbal_emu/test_payload_gimbal_emu.h"
  43 +#include "JZsdkLib.h"
  44 +
  45 +#include "DeviceInfo/Attribute/Attribute.h"
  46 +
  47 +/* Private constants ---------------------------------------------------------*/
  48 +#define FC_SUBSCRIPTION_TASK_FREQ (1)
  49 +#define FC_SUBSCRIPTION_TASK_STACK_SIZE (1024)
  50 +
  51 +
  52 +/* Private types -------------------------------------------------------------*/
  53 +
  54 +/* Private functions declaration ---------------------------------------------*/
  55 +static void *Subscription_GPS_DealTask(void *arg);
  56 +static void *Subscription_Velocity_ReplyTask(void *arg);
  57 +// static void *Subscription_GimbalSub_Task(void *arg);
  58 +static T_DjiReturnCode DjiTest_FcSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
  59 + const T_DjiDataTimestamp *timestamp);
  60 +static void *Subscription_GimbalAngels_task(void *arg);
  61 +static void* Subscription_Height_Fusion_task(void* arg);
  62 +/* Private variables ---------------------------------------------------------*/
  63 +static T_DjiTaskHandle s_userFcSubscriptionThread;
  64 +static bool s_userFcSubscriptionDataShow = false;//标志位
  65 +static uint8_t s_totalSatelliteNumberUsed = 0;
  66 +
  67 +static T_DjiFcSubscriptionGpsTime gpsTime = {0};
  68 +static T_DjiFcSubscriptionGpsDate gpsDate = {0};
  69 +static T_DjiFcSubscriptionGpsPosition gpsPosition = {0};
  70 +
  71 +//获取时间结构体
  72 +struct TimeGetSub
  73 +{
  74 + int GetTime;
  75 + int GetDate;
  76 +};
  77 +
  78 +float g_height_value = 0;
  79 +int height_Volume_lock = 0; //高度音量锁
  80 +static int g_WhetherInChina = 0;
  81 +
  82 +/* Exported functions definition ---------------------------------------------*/
  83 +/*
  84 + DjiTest_FcSubscriptionStartService----------------------------------------------------------------------------------------------START
  85 + 1. 初始化消息订阅模块
  86 + 2. 指定TOPIC发起数据订阅 订阅的消息有 姿态四元数 速度 GPS 位置 GPS 信息
  87 + 3. 运行user_subscription_task样例任务
  88 +*/
  89 +T_DjiReturnCode DjiTest_FcSubscriptionStartService(void)
  90 +{
  91 + T_DjiReturnCode djiStat;
  92 + T_DjiOsalHandler *osalHandler = NULL;
  93 + T_DjiReturnCode returnCode;
  94 + T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
  95 +
  96 + osalHandler = DjiPlatform_GetOsalHandler();
  97 +
  98 + //消息订阅功能模块初始化
  99 + djiStat = DjiFcSubscription_Init();
  100 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  101 + USER_LOG_ERROR("init data subscription module error.");
  102 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  103 + }
  104 +
  105 + // 获得飞机信息
  106 + returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
  107 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  108 + USER_LOG_ERROR("get aircraft base info error");
  109 + return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  110 + }
  111 +
  112 + //订阅gps时间的主题
  113 + djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
  114 + NULL);
  115 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  116 + USER_LOG_ERROR("Subscribe topic gps position error.");
  117 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  118 + }
  119 +
  120 + //订阅gps日期 主题
  121 + djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
  122 + NULL);
  123 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  124 + USER_LOG_ERROR("Subscribe topic gps position error.");
  125 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  126 + }
  127 +
  128 + //订阅gps地址
  129 + djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
  130 + NULL);
  131 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  132 + USER_LOG_ERROR("Subscribe topic gps position error.");
  133 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  134 + }
  135 +
  136 + //订阅 飞机 飞行状态
  137 + djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
  138 + NULL);
  139 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  140 + USER_LOG_ERROR("Subscribe topic velocity error.");
  141 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  142 + } else {
  143 + USER_LOG_DEBUG("Subscribe topic velocity success.");
  144 + }
  145 +
  146 + //订阅相机角度
  147 + djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,NULL);//订阅角度
  148 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  149 + {
  150 + USER_LOG_ERROR("Subscribe topic quaternion error.");
  151 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  152 + }
  153 +
  154 +
  155 + //飞机自身角度
  156 + djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
  157 + DjiTest_FcSubscriptionReceiveQuaternionCallback);
  158 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  159 + USER_LOG_ERROR("Subscribe topic quaternion error.");
  160 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  161 + } else {
  162 + USER_LOG_DEBUG("Subscribe topic quaternion success.");
  163 + }
  164 +
  165 +
  166 +
  167 + // //m30和m30t有高度锁
  168 + // if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T)
  169 + // {
  170 + // if (osalHandler->TaskCreate("Subscription_Height_Fusion_task", Subscription_Height_Fusion_task,
  171 + // FC_SUBSCRIPTION_TASK_STACK_SIZE, NULL, &s_userFcSubscriptionThread) !=
  172 + // DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  173 + // USER_LOG_ERROR("Height Fusion task create error.");
  174 + // return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  175 + // }
  176 + // else {
  177 + // USER_LOG_INFO("开启相对高度音量限制功能");
  178 + // }
  179 + // }
  180 +
  181 +
  182 +
  183 +
  184 +/**********************
  185 + *
  186 + *
  187 + * 处理线程
  188 + *
  189 + * *******************************************/
  190 + //gps处理线程
  191 + if (osalHandler->TaskCreate("user_GPSDeal_task",Subscription_GPS_DealTask,
  192 + FC_SUBSCRIPTION_TASK_STACK_SIZE, NULL, &s_userFcSubscriptionThread) !=
  193 + DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  194 + USER_LOG_ERROR("user data subscription task create error.");
  195 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  196 + }
  197 +
  198 +
  199 + //飞机飞行状态回复线程
  200 + if (osalHandler->TaskCreate("user_subscription_task", Subscription_Velocity_ReplyTask,
  201 + FC_SUBSCRIPTION_TASK_STACK_SIZE, NULL, &s_userFcSubscriptionThread) !=
  202 + DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  203 + USER_LOG_ERROR("user data subscription task create error.");
  204 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  205 + }
  206 +
  207 + // //云台参数回复线程
  208 + // if (osalHandler->TaskCreate("Subscription_GimbalSub_Task", Subscription_GimbalSub_Task,
  209 + // FC_SUBSCRIPTION_TASK_STACK_SIZE, NULL, &s_userFcSubscriptionThread) !=
  210 + // DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
  211 + // {
  212 + // USER_LOG_ERROR("user data subscription task create error.");
  213 + // return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  214 + // }
  215 +
  216 + //如果飞机为需要飞机自带的相机进行云台联动的型号
  217 + // if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30
  218 + // || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T
  219 + // || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E
  220 + // || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T
  221 + // || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D
  222 + // || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD
  223 + // || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
  224 + // || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK
  225 + // )
  226 + // {
  227 + if (osalHandler->TaskCreate("Subscription_GimbalAngels_task", Subscription_GimbalAngels_task,
  228 + FC_SUBSCRIPTION_TASK_STACK_SIZE, NULL, &s_userFcSubscriptionThread) !=
  229 + DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  230 + USER_LOG_ERROR("user data Subscription_GimbalAngels_task create error.");
  231 + return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  232 + }
  233 + //}
  234 +
  235 +
  236 +
  237 + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  238 +}
  239 +
  240 +//取反标志位，是和阻塞函数里用到--------------------------------------------------------
  241 +T_DjiReturnCode DjiTest_FcSubscriptionDataShowTrigger(void)
  242 +{
  243 + //标志位取反
  244 + s_userFcSubscriptionDataShow = !s_userFcSubscriptionDataShow;
  245 +
  246 + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  247 +}
  248 +
  249 +//获取标志位到number------------------------------------------------------------------------
  250 +T_DjiReturnCode DjiTest_FcSubscriptionGetTotalSatelliteNumber(uint8_t *number)
  251 +{
  252 + *number = s_totalSatelliteNumberUsed;
  253 +
  254 + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  255 +}
  256 +
  257 +/* Private functions definition-----------------------------------------------*/
  258 +#ifndef __CC_ARM
  259 +#pragma GCC diagnostic push
  260 +#pragma GCC diagnostic ignored "-Wmissing-noreturn"
  261 +#pragma GCC diagnostic ignored "-Wreturn-type"
  262 +#endif
  263 +
  264 +/**
  265 +*
  266 +功能：判断经纬度是否在指定范围
  267 +参数：x 经度 y 纬度
  268 +返回值：1(中国) 0(国外)
  269 +
  270 +*/
  271 +static int check_GPS()
  272 +{
  273 + //经度
  274 + int x = 0;
  275 +
  276 + //纬度
  277 + int y = 0;
  278 +
  279 + x = (int)gpsPosition.x;
  280 + y = (int)gpsPosition.y;
  281 +
  282 + //USER_LOG_INFO("x:%f y:%f",x,y);
  283 +
  284 + x= x/10000000;
  285 + y= y/10000000;
  286 +
  287 + //USER_LOG_INFO("x:%d y:%d",x,y);
  288 + /**
  289 + 中国经纬度粗划分，精度为 1 ，中国区域占比偏大
  290 + */
  291 + int gps_map[67][2]={
  292 + {0 ,0 },{ 0, 0},{ 0, 0},{0,0},{37,38},{36,41},{35,42},{35,42},{31,42},{30,45},//70-79
  293 + {29,45},{30,46},{29,47},{29,48},{28,48},{27,49},{27,50},{27,50},{27,49},{27,48},//80-89
  294 + {28,48},{27,46},{26,46},{27,45},{27,45},{27,45},{28,44},{23,43},{23,43},{21,43},//90-99
  295 + {21,43},{21,43},{22,42},{22,42},{22,42},{22,43},{22,43},{21,43},{21,43},{3,43},//100-109
  296 + {3,43},{3,45},{3,46},{4,45},{5,46},{6,49},{9,50},{10,50},{13,49},{25,51},//110-119
  297 + {19,53},{20,54},{22,54},{24,54},{25,54},{40,54},{41,53},{41,51},{41,50},{41,50},//120-129
  298 + {42,49},{42,48},{45,48},{45,49},{47,48},{48,49},{48,49}//130-136
  299 + };
  300 +
  301 + if(x<73||x>136) //经度超范围
  302 + {
  303 + g_WhetherInChina = 0;;
  304 + }
  305 + else
  306 + {
  307 + int getx=x-70;
  308 + int gety=y;
  309 +
  310 + if(y>=gps_map[getx][0]&&y<=gps_map[getx][1]) //根据经纬度判断是否处于中国区域
  311 + g_WhetherInChina = 1;
  312 + else
  313 + g_WhetherInChina = 0;
  314 + }
  315 +
  316 +
  317 +}
  318 +int Subscription_WhetherInChina()
  319 +{
  320 + //USER_LOG_INFO("g_WhetherInChina:%d",g_WhetherInChina);
  321 + //不在返回0 在返回1
  322 + return g_WhetherInChina;
  323 +}
  324 +
  325 +//GPS订阅线程
  326 +static void *Subscription_GPS_DealTask(void *arg)
  327 +{
  328 + //权柄
  329 + T_DjiReturnCode djiStat;
  330 + T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
  331 +
  332 + //回调参数
  333 + T_DjiDataTimestamp timestamp = {0};
  334 +
  335 +
  336 + USER_UTIL_UNUSED(arg);
  337 +
  338 + while (1)
  339 + {
  340 + //时间
  341 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_TIME,
  342 + (uint8_t *) &gpsTime,
  343 + sizeof(T_DjiFcSubscriptionGpsTime),
  344 + &timestamp);
  345 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  346 + USER_LOG_ERROR("get value of topic gps position error.");
  347 + } else {
  348 + //USER_LOG_INFO("gpsTime = %d", gpsTime);
  349 + }
  350 +
  351 + //日期
  352 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_DATE,
  353 + (uint8_t *) &gpsDate,
  354 + sizeof(T_DjiFcSubscriptionGpsDate),
  355 + &timestamp);
  356 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  357 + USER_LOG_ERROR("get value of topic gps position error.");
  358 + } else {
  359 + //USER_LOG_INFO("gpsDate = %d", gpsDate);
  360 + }
  361 +
  362 + //地址
  363 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION,
  364 + (uint8_t *) &gpsPosition,
  365 + sizeof(T_DjiFcSubscriptionGpsPosition),
  366 + &timestamp);
  367 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  368 + USER_LOG_ERROR("get value of topic gps position error.");
  369 + } else {
  370 + //USER_LOG_INFO("gpsDate = %d", gpsDate);
  371 + }
  372 +
  373 + //如果为海外版
  374 + if (FIRMWARE_ORIGIN == OVERSEAS_VERSION)
  375 + {
  376 + check_GPS();
  377 + //USER_LOG_INFO("海外");
  378 + }
  379 +
  380 + //USER_LOG_INFO("gps订阅");
  381 + //1s一次
  382 +
  383 + T_JZsdkAttributeGpsPosition temp_GpsPosition;
  384 + temp_GpsPosition.x = gpsPosition.x;
  385 + temp_GpsPosition.y = gpsPosition.y;
  386 + temp_GpsPosition.z = gpsPosition.z;
  387 + Attribute_SetGpsPosition(temp_GpsPosition);
  388 +
  389 + T_JZsdkAttributeGpsTime temp_GpsTime;
  390 + temp_GpsTime = gpsTime;
  391 + Attribute_SetGpsTime(temp_GpsTime);
  392 +
  393 + T_JZsdkAttributeGpsDate temp_GpsDate;
  394 + temp_GpsDate = gpsDate;
  395 + Attribute_SetGpsDate(temp_GpsDate);
  396 +
  397 + osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
  398 +
  399 + }
  400 +
  401 + //5、结束订阅函数
  402 + djiStat = DjiFcSubscription_DeInit();
  403 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  404 + USER_LOG_ERROR("Deinit fc subscription error.");
  405 + }
  406 +}
  407 +
  408 +static void *Subscription_Velocity_ReplyTask(void *arg)
  409 +{
  410 + T_DjiReturnCode djiStat;
  411 + T_DjiFcSubscriptionVelocity velocity = {0};
  412 + T_DjiDataTimestamp timestamp = {0};
  413 + T_DjiFcSubscriptionGpsPosition gpsPosition = {0};
  414 + T_DjiFcSubscriptionGpsDetails gpsDetails = {0};
  415 + T_DjiOsalHandler *osalHandler = NULL;
  416 +
  417 + USER_UTIL_UNUSED(arg);
  418 + osalHandler = DjiPlatform_GetOsalHandler();
  419 +
  420 +//飞机的运行情况打印
  421 + while (1) {
  422 + //等待一秒
  423 + osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
  424 + //主动获取数据 获取指定TOPIC的最新发布数据。 获取速度------------------------------------------------
  425 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY,
  426 + (uint8_t *) &velocity,
  427 + sizeof(T_DjiFcSubscriptionVelocity),
  428 + &timestamp);
  429 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  430 + USER_LOG_ERROR("get value of topic velocity error.");
  431 + }
  432 + //如果是阻塞标志位开启，就将速度打印出来
  433 + if (s_userFcSubscriptionDataShow == true) {
  434 + USER_LOG_INFO("velocity: x %f y %f z %f, healthFlag %d.", velocity.data.x, velocity.data.y,
  435 + velocity.data.z, velocity.health);
  436 + }
  437 + }
  438 +}
  439 +
  440 +static void *Subscription_GimbalAngels_task(void *arg)
  441 +{
  442 + T_DjiReturnCode djiStat;
  443 + T_DjiVector3f gimbalangle = {0};//云台角度
  444 + T_DjiOsalHandler *osalHandler = NULL;
  445 + T_DjiDataTimestamp timestamp = {0};
  446 +
  447 + osalHandler = DjiPlatform_GetOsalHandler();
  448 +
  449 + int LastGimbalPitch;
  450 + int NowGimbalPitch;
  451 +
  452 + USER_LOG_INFO("相机云台联动线程已经启用");
  453 +
  454 + while (1) {//一直在循环里面
  455 + //osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
  456 + osalHandler->TaskSleepMs(1000 / 20);
  457 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
  458 + (uint8_t *) &gimbalangle,
  459 + sizeof(T_DjiVector3f),
  460 + &timestamp);
  461 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  462 + USER_LOG_ERROR("get gimbal angle error.");
  463 + }
  464 + else
  465 + {
  466 + NowGimbalPitch = (int)gimbalangle.x * 10;
  467 + //USER_LOG_INFO("NowGimbalPitch%d",NowGimbalPitch);
  468 +
  469 + //如果云台联动已经打开
  470 + if( (Get_Gimbal_linkage()== JZ_FLAGCODE_ON ) && (NowGimbalPitch != LastGimbalPitch) )
  471 + {
  472 + //printf("消息订阅联动\n");
  473 + JZsdk_Psdk_Ui_io_Gimbal_PitchAngleControlMode(NowGimbalPitch);
  474 + LastGimbalPitch = NowGimbalPitch;
  475 + }
  476 +
  477 + }
  478 + }
  479 +}
  480 +
  481 +
  482 +//获取相对高度音量限制线程
  483 +static void* Subscription_Height_Fusion_task(void* arg)
  484 +{
  485 + T_DjiReturnCode djiStat;
  486 + T_DjiFcSubscriptionHeightFusion height_fusion_value = {0};//融合相对高度
  487 + T_DjiOsalHandler* osalHandler = NULL;
  488 + T_DjiDataTimestamp timestamp = { 0 };
  489 +
  490 + osalHandler = DjiPlatform_GetOsalHandler();
  491 +
  492 + //订阅相对融合高度
  493 + djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,NULL);
  494 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  495 + JZSDK_LOG_ERROR("融合高度订阅失败");
  496 + }
  497 + else
  498 + {
  499 + JZSDK_LOG_INFO("融合高度订阅成功");
  500 + }
  501 +
  502 + while (1) {//一直在循环里面
  503 + osalHandler->TaskSleepMs(100);
  504 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION,
  505 + (uint8_t*)&height_fusion_value,
  506 + sizeof(T_DjiFcSubscriptionHeightFusion),
  507 + &timestamp);
  508 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  509 + USER_LOG_ERROR("get height relativevalue error.");
  510 + }
  511 +
  512 + else
  513 + {
  514 + //USER_LOG_INFO("融合相对高度为 = %f",height_fusion_value);
  515 + g_height_value = height_fusion_value;
  516 +
  517 + //如果高度音量限制已打开,音量超过60，设置为60%
  518 + if ( height_fusion_value <= 10) // && DeviceActivation_GetDebugMode() == 0)
  519 + {
  520 + height_Volume_lock = 1;//高度锁生效
  521 + if(JZsdk_Psdk_UI_io_GetWidgetVolume() >60 ) //高度音量锁e > 60
  522 + {
  523 + JZsdk_Psdk_UI_io_SetVolume(1,60);
  524 + }
  525 + }
  526 + else {
  527 + height_Volume_lock = 0;//高度锁解锁
  528 + //高度音量锁
  529 + }
  530 + }
  531 +
  532 + }
  533 +}
  534 +
  535 +#ifndef __CC_ARM
  536 +#pragma GCC diagnostic pop
  537 +#endif
  538 +//回调函数
  539 +static T_DjiReturnCode DjiTest_FcSubscriptionReceiveQuaternionCallback(const uint8_t *data, uint16_t dataSize,
  540 + const T_DjiDataTimestamp *timestamp)
  541 +{
  542 + T_DjiFcSubscriptionQuaternion *quaternion = (T_DjiFcSubscriptionQuaternion *) data;
  543 + dji_f64_t pitch, yaw, roll;
  544 +
  545 + USER_UTIL_UNUSED(dataSize);
  546 + //转换成 倾角 转角
  547 + pitch = (dji_f64_t) asinf(-2 * quaternion->q1 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q2) * 57.3;
  548 + roll = (dji_f64_t) atan2f(2 * quaternion->q2 * quaternion->q3 + 2 * quaternion->q0 * quaternion->q1,
  549 + -2 * quaternion->q1 * quaternion->q1 - 2 * quaternion->q2 * quaternion->q2 + 1) * 57.3;
  550 + yaw = (dji_f64_t) atan2f(2 * quaternion->q1 * quaternion->q2 + 2 * quaternion->q0 * quaternion->q3,
  551 + -2 * quaternion->q2 * quaternion->q2 - 2 * quaternion->q3 * quaternion->q3 + 1) *57.3;
  552 +
  553 +
  554 + //printf("回调：pitch%d\n",(int)pitch);
  555 +
  556 + //飞机自身角度
  557 + JZsdk_Psdk_Ui_io_Gimbal_PitchSelfangleMode( ( (int)pitch * 10));
  558 +
  559 + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  560 +}
  561 +
  562 +T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
  563 +{
  564 +}
  565 +
  566 +/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
@@ -1306,6 +1306,8 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void) @@ -1306,6 +1306,8 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
1306 || DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType 1306 || DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
1307 || DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType 1307 || DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
1308 || DJI_AIRCRAFT_TYPE_M4E == aircraftInfoBaseInfo.aircraftType 1308 || DJI_AIRCRAFT_TYPE_M4E == aircraftInfoBaseInfo.aircraftType
  1309 + || DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
  1310 + || DJI_AIRCRAFT_TYPE_M4D == aircraftInfoBaseInfo.aircraftType
1309 ) { 1311 ) {
1310 if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) { 1312 if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) {
1311 break; 1313 break;
  1 +/**
  2 + ********************************************************************
  3 + * @file test_flight_control.c
  4 + * @brief
  5 + *
  6 + * @copyright (c) 2021 DJI. All rights reserved.
  7 + *
  8 + * All information contained herein is, and remains, the property of DJI.
  9 + * The intellectual and technical concepts contained herein are proprietary
  10 + * to DJI and may be covered by U.S. and foreign patents, patents in process,
  11 + * and protected by trade secret or copyright law. Dissemination of this
  12 + * information, including but not limited to data and other proprietary
  13 + * material(s) incorporated within the information, in any form, is strictly
  14 + * prohibited without the express written consent of DJI.
  15 + *
  16 + * If you receive this source code without DJI’s authorization, you may not
  17 + * further disseminate the information, and you must immediately remove the
  18 + * source code and notify DJI of its removal. DJI reserves the right to pursue
  19 + * legal actions against you for any loss(es) or damage(s) caused by your
  20 + * failure to do so.
  21 + *
  22 + *********************************************************************
  23 + */
  24 +
  25 +/* Includes ------------------------------------------------------------------*/
  26 +#include "dji_flight_controller.h"
  27 +#include "test_flight_control.h"
  28 +#include "dji_fc_subscription.h"
  29 +#include "dji_platform.h"
  30 +#include "dji_logger.h"
  31 +#include <math.h>
  32 +#include <widget_interaction_test/test_widget_interaction.h>
  33 +#include <dji_aircraft_info.h>
  34 +/* Private constants ---------------------------------------------------------*/
  35 +
  36 +/* Private types -------------------------------------------------------------*/
  37 +typedef struct {
  38 + E_DjiFcSubscriptionDisplayMode displayMode;
  39 + char *displayModeStr;
  40 +} T_DjiTestFlightControlDisplayModeStr;
  41 +
  42 +/* Private values -------------------------------------------------------------*/
  43 +static T_DjiOsalHandler *s_osalHandler = NULL;
  44 +static const double s_earthCenter = 6378137.0;
  45 +static const double s_degToRad = 0.01745329252;
  46 +static bool s_isFtsCallbackRegistered = false;
  47 +static int32_t s_ftsTriggerCount = 0;
  48 +
  49 +static const T_DjiTestFlightControlDisplayModeStr s_flightControlDisplayModeStr[] = {
  50 + {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ATTITUDE, .displayModeStr = "attitude mode"},
  51 + {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_P_GPS, .displayModeStr = "p_gps mode"},
  52 + {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ASSISTED_TAKEOFF, .displayModeStr = "assisted takeoff mode"},
  53 + {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_TAKEOFF, .displayModeStr = "auto takeoff mode"},
  54 + {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING, .displayModeStr = "auto landing mode"},
  55 + {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_NAVI_GO_HOME, .displayModeStr = "go home mode"},
  56 + {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING, .displayModeStr = "force landing mode"},
  57 + {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ENGINE_START, .displayModeStr = "engine start mode"},
  58 + {.displayMode = 0xFF, .displayModeStr = "unknown mode"}
  59 +};
  60 +
  61 +/* Private functions declaration ---------------------------------------------*/
  62 +static uint8_t DjiTest_FlightControlGetDisplayModeIndex(E_DjiFcSubscriptionDisplayMode displayMode);
  63 +static T_DjiFcSubscriptionFlightStatus DjiTest_FlightControlGetValueOfFlightStatus(void);
  64 +static T_DjiFcSubscriptionDisplaymode DjiTest_FlightControlGetValueOfDisplayMode(void);
  65 +static T_DjiFcSubscriptionHeightFusion DjiTest_FlightControlGetValueOfHeightFusion(void);
  66 +static T_DjiFcSubscriptionQuaternion DjiTest_FlightControlGetValueOfQuaternion(void);
  67 +static T_DjiFcSubscriptionPositionFused DjiTest_FlightControlGetValueOfPositionFused(void);
  68 +static dji_f32_t DjiTest_FlightControlGetValueOfRelativeHeight(void);
  69 +static bool DjiTest_FlightControlMotorStartedCheck(void);
  70 +static bool DjiTest_FlightControlTakeOffInAirCheck(void);
  71 +static bool DjiTest_FlightControlLandFinishedCheck(void);
  72 +static bool DjiTest_FlightControlMonitoredTakeoff(void);
  73 +static bool DjiTest_FlightControlCheckActionStarted(E_DjiFcSubscriptionDisplayMode mode);
  74 +static bool DjiTest_FlightControlMonitoredLanding(void);
  75 +static bool DjiTest_FlightControlGoHomeAndConfirmLanding(void);
  76 +static T_DjiTestFlightControlVector3f DjiTest_FlightControlQuaternionToEulerAngle(T_DjiFcSubscriptionQuaternion quat);
  77 +static T_DjiTestFlightControlVector3f
  78 +DjiTest_FlightControlLocalOffsetFromGpsAndFusedHeightOffset(T_DjiFcSubscriptionPositionFused target,
  79 + T_DjiFcSubscriptionPositionFused origin,
  80 + dji_f32_t targetHeight,
  81 + dji_f32_t originHeight);
  82 +static T_DjiTestFlightControlVector3f
  83 +DjiTest_FlightControlVector3FSub(T_DjiTestFlightControlVector3f vectorA, T_DjiTestFlightControlVector3f vectorB);
  84 +static int DjiTest_FlightControlSignOfData(dji_f32_t data);
  85 +static void DjiTest_FlightControlHorizCommandLimit(dji_f32_t speedFactor, dji_f32_t *commandX, dji_f32_t *commandY);
  86 +static dji_f32_t DjiTest_FlightControlVectorNorm(T_DjiTestFlightControlVector3f v);
  87 +static T_DjiReturnCode
  88 +DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJoystickCtrlAuthorityEventInfo eventData);
  89 +static bool DjiTest_FlightControlMoveByPositionOffset(T_DjiTestFlightControlVector3f offsetDesired,
  90 + float yawDesiredInDeg,
  91 + float posThresholdInM,
  92 + float yawThresholdInDeg);
  93 +static T_DjiReturnCode DjiTest_FlightControlInit(void);
  94 +static T_DjiReturnCode DjiTest_FlightControlDeInit(void);
  95 +static void DjiTest_FlightControlTakeOffLandingSample(void);
  96 +static void DjiTest_FlightControlPositionControlSample(void);
  97 +static void DjiTest_FlightControlGoHomeForceLandingSample(void);
  98 +static void DjiTest_FlightControlVelocityControlSample(void);
  99 +static void DjiTest_FlightControlArrestFlyingSample(void);
  100 +static void DjiTest_FlightControlSetGetParamSample(void);
  101 +static void DjiTest_FlightControlPassiveTriggerFtsSample(void);
  102 +static T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void);
  103 +static void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
  104 +
  105 +/* Exported functions definition ---------------------------------------------*/
  106 +T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect)
  107 +{
  108 + T_DjiReturnCode returnCode;
  109 +
  110 + USER_LOG_DEBUG("Init flight Control Sample");
  111 + DjiTest_WidgetLogAppend("Init flight Control Sample");
  112 +
  113 + returnCode = DjiTest_FlightControlInit();
  114 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  115 + USER_LOG_ERROR("Init flight Control sample failed,error code:0x%08llX", returnCode);
  116 + return returnCode;
  117 + }
  118 +
  119 + DjiTest_FlightControlSample(flightCtrlSampleSelect);
  120 +
  121 + USER_LOG_DEBUG("Deinit Flight Control Sample");
  122 + DjiTest_WidgetLogAppend("Deinit Flight Control Sample");
  123 + returnCode = DjiTest_FlightControlDeInit();
  124 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  125 + USER_LOG_ERROR("Deinit Flight Control sample failed,error code:0x%08llX", returnCode);
  126 + return returnCode;
  127 + }
  128 +
  129 + return returnCode;
  130 +}
  131 +
  132 +/* Private functions definition-----------------------------------------------*/
  133 +T_DjiReturnCode DjiTest_FlightControlInit(void)
  134 +{
  135 + T_DjiReturnCode returnCode;
  136 + T_DjiFlightControllerRidInfo ridInfo = {0};
  137 +
  138 + s_osalHandler = DjiPlatform_GetOsalHandler();
  139 + if (!s_osalHandler) return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
  140 +
  141 + ridInfo.latitude = 22.542812;
  142 + ridInfo.longitude = 113.958902;
  143 + ridInfo.altitude = 10;
  144 +
  145 + returnCode = DjiFlightController_Init(ridInfo);
  146 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  147 + USER_LOG_ERROR("Init flight controller module failed, error code:0x%08llX", returnCode);
  148 + return returnCode;
  149 + }
  150 +
  151 + returnCode = DjiFcSubscription_Init();
  152 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  153 + USER_LOG_ERROR("Init data subscription module failed, error code:0x%08llX", returnCode);
  154 + return returnCode;
  155 + }
  156 +
  157 + /*! subscribe fc data */
  158 + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
  159 + DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
  160 + NULL);
  161 +
  162 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  163 + USER_LOG_ERROR("Subscribe topic flight status failed, error code:0x%08llX", returnCode);
  164 + return returnCode;
  165 + }
  166 +
  167 + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_DISPLAYMODE,
  168 + DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
  169 + NULL);
  170 +
  171 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  172 + USER_LOG_ERROR("Subscribe topic display mode failed, error code:0x%08llX", returnCode);
  173 + return returnCode;
  174 + }
  175 +
  176 + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION,
  177 + DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
  178 + NULL);
  179 +
  180 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  181 + USER_LOG_ERROR("Subscribe topic avoid data failed,error code:0x%08llX", returnCode);
  182 + return returnCode;
  183 + }
  184 +
  185 + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION,
  186 + DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,
  187 + NULL);
  188 +
  189 + if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  190 + } else if (returnCode == DJI_ERROR_SUBSCRIPTION_MODULE_CODE_TOPIC_DUPLICATE) {
  191 + USER_LOG_WARN("Subscribe topic quaternion duplicate");
  192 + } else {
  193 + USER_LOG_ERROR("Subscribe topic quaternion failed,error code:0x%08llX", returnCode);
  194 + return returnCode;
  195 + }
  196 +
  197 + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_POSITION_FUSED,
  198 + DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,
  199 + NULL);
  200 +
  201 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  202 + USER_LOG_ERROR("Subscribe topic position fused failed,error code:0x%08llX", returnCode);
  203 + return returnCode;
  204 + }
  205 +
  206 + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_FUSED,
  207 + DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,
  208 + NULL);
  209 +
  210 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  211 + USER_LOG_ERROR("Subscribe topic altitude fused failed,error code:0x%08llX", returnCode);
  212 + return returnCode;
  213 + }
  214 +
  215 + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT,
  216 + DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
  217 + NULL);
  218 +
  219 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  220 + USER_LOG_ERROR("Subscribe topic altitude of home point failed,error code:0x%08llX", returnCode);
  221 + return returnCode;
  222 + }
  223 +
  224 + returnCode = DjiFlightController_RegJoystickCtrlAuthorityEventCallback(
  225 + DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback);
  226 +
  227 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS && returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT) {
  228 + USER_LOG_ERROR("Register joystick control authority event callback failed,error code:0x%08llX", returnCode);
  229 + return returnCode;
  230 + }
  231 +
  232 + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  233 +}
  234 +
  235 +T_DjiReturnCode DjiTest_FlightControlDeInit(void)
  236 +{
  237 + T_DjiReturnCode returnCode;
  238 +
  239 + returnCode = DjiFlightController_DeInit();
  240 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  241 + USER_LOG_ERROR("Deinit flight controller module failed, error code:0x%08llX",
  242 + returnCode);
  243 + return returnCode;
  244 + }
  245 +
  246 + returnCode = DjiFcSubscription_DeInit();
  247 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  248 + USER_LOG_ERROR("Deinit data subscription module failed, error code:0x%08llX",
  249 + returnCode);
  250 + return returnCode;
  251 + }
  252 +
  253 + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  254 +}
  255 +
  256 +void DjiTest_FlightControlTakeOffLandingSample()
  257 +{
  258 + T_DjiReturnCode returnCode;
  259 +
  260 + USER_LOG_INFO("Flight control takeoff-landing sample start");
  261 + DjiTest_WidgetLogAppend("Flight control takeoff-landing sample start");
  262 + USER_LOG_INFO("--> Step 1: Obtain joystick control authority.");
  263 + DjiTest_WidgetLogAppend("--> Step 1: Obtain joystick control authority.");
  264 + returnCode = DjiFlightController_ObtainJoystickCtrlAuthority();
  265 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  266 + USER_LOG_ERROR("Obtain joystick authority failed, error code: 0x%08X", returnCode);
  267 + goto out;
  268 + }
  269 + s_osalHandler->TaskSleepMs(1000);
  270 +
  271 + USER_LOG_INFO("--> Step 2: Take off\r\n");
  272 + DjiTest_WidgetLogAppend("--> Step 2: Take off\r\n");
  273 + if (!DjiTest_FlightControlMonitoredTakeoff()) {
  274 + USER_LOG_ERROR("Take off failed");
  275 + goto out;
  276 + }
  277 + USER_LOG_INFO("Successful take off\r\n");
  278 + DjiTest_WidgetLogAppend("Successful take off\r\n");
  279 + s_osalHandler->TaskSleepMs(4000);
  280 +
  281 + USER_LOG_INFO("--> Step 3: Landing\r\n");
  282 + DjiTest_WidgetLogAppend("--> Step 3: Landing\r\n");
  283 + if (!DjiTest_FlightControlMonitoredLanding()) {
  284 + USER_LOG_ERROR("Landing failed");
  285 + goto out;
  286 + }
  287 + USER_LOG_INFO("Successful landing\r\n");
  288 + DjiTest_WidgetLogAppend("Successful landing\r\n");
  289 +
  290 + USER_LOG_INFO("--> Step 4: Release joystick authority");
  291 + DjiTest_WidgetLogAppend("--> Step 4: Release joystick authority");
  292 + returnCode = DjiFlightController_ReleaseJoystickCtrlAuthority();
  293 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  294 + USER_LOG_ERROR("Release joystick authority failed, error code: 0x%08X", returnCode);
  295 + goto out;
  296 + }
  297 +
  298 +out:
  299 + USER_LOG_INFO("Flight control takeoff-landing sample end");
  300 + DjiTest_WidgetLogAppend("Flight control takeoff-landing sample end");
  301 +}
  302 +
  303 +void DjiTest_FlightControlPositionControlSample()
  304 +{
  305 + T_DjiReturnCode returnCode;
  306 +
  307 + USER_LOG_INFO("Flight control move-by-position sample start");
  308 + DjiTest_WidgetLogAppend("Flight control move-by-position sample start");
  309 +
  310 + USER_LOG_INFO("--> Step 1: Obtain joystick control authority.");
  311 + DjiTest_WidgetLogAppend("--> Step 1: Obtain joystick control authority.");
  312 + returnCode = DjiFlightController_ObtainJoystickCtrlAuthority();
  313 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  314 + USER_LOG_ERROR("Obtain joystick authority failed, error code: 0x%08X", returnCode);
  315 + goto out;
  316 + }
  317 + s_osalHandler->TaskSleepMs(1000);
  318 +
  319 + USER_LOG_INFO("--> Step 2: Take off\r\n");
  320 + DjiTest_WidgetLogAppend("--> Step 2: Take off\r\n");
  321 + if (!DjiTest_FlightControlMonitoredTakeoff()) {
  322 + USER_LOG_ERROR("Take off failed");
  323 + goto out;
  324 + }
  325 + USER_LOG_INFO("Successful take off\r\n");
  326 + DjiTest_WidgetLogAppend("Successful take off\r\n");
  327 +
  328 + USER_LOG_INFO("--> Step 3: Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point");
  329 + DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point");
  330 + if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {0, 6, 6}, 30, 0.8, 1)) {
  331 + USER_LOG_ERROR("Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point failed");
  332 + goto out;
  333 + };
  334 +
  335 + USER_LOG_INFO("--> Step 4: Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point");
  336 + DjiTest_WidgetLogAppend(
  337 + "--> Step 4: Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point");
  338 + if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {6, 0, -3}, -30, 0.8, 1)) {
  339 + USER_LOG_ERROR("Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point failed");
  340 + goto out;
  341 + };
  342 +
  343 + USER_LOG_INFO("--> Step 5: Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point");
  344 + DjiTest_WidgetLogAppend("--> Step 5: Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point");
  345 + if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {-6, -6, 0}, 0, 0.8, 1)) {
  346 + USER_LOG_ERROR("Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point failed");
  347 + goto out;
  348 + }
  349 +
  350 + USER_LOG_INFO("--> Step 6: Landing\r\n");
  351 + DjiTest_WidgetLogAppend("--> Step 6: Landing\r\n");
  352 + if (!DjiTest_FlightControlMonitoredLanding()) {
  353 + USER_LOG_ERROR("Landing failed");
  354 + goto out;
  355 + }
  356 + USER_LOG_INFO("Successful landing\r\n");
  357 + DjiTest_WidgetLogAppend("Successful landing\r\n");
  358 +
  359 + USER_LOG_INFO("--> Step 7: Release joystick authority");
  360 + DjiTest_WidgetLogAppend("--> Step 7: Release joystick authority");
  361 + returnCode = DjiFlightController_ReleaseJoystickCtrlAuthority();
  362 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  363 + USER_LOG_ERROR("Release joystick authority failed, error code: 0x%08X", returnCode);
  364 + goto out;
  365 + }
  366 +
  367 +out:
  368 + USER_LOG_INFO("Flight control move-by-position sample end");
  369 + DjiTest_WidgetLogAppend("Flight control move-by-position sample end");
  370 +}
  371 +
  372 +void DjiTest_FlightControlGoHomeForceLandingSample()
  373 +{
  374 + T_DjiReturnCode returnCode;
  375 +
  376 + USER_LOG_INFO("Flight control go-home-force-landing sample start");
  377 + DjiTest_WidgetLogAppend("Flight control go-home-force-landing sample start");
  378 +
  379 + USER_LOG_INFO("--> Step 1: Obtain joystick control authority");
  380 + DjiTest_WidgetLogAppend("--> Step 1: Obtain joystick control authority");
  381 + returnCode = DjiFlightController_ObtainJoystickCtrlAuthority();
  382 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  383 + USER_LOG_ERROR("Obtain joystick authority failed, error code: 0x%08X", returnCode);
  384 + goto out;
  385 + }
  386 + s_osalHandler->TaskSleepMs(1000);
  387 +
  388 + USER_LOG_INFO("--> Step 2: Take off\r\n");
  389 + DjiTest_WidgetLogAppend("--> Step 2: Take off\r\n");
  390 + if (!DjiTest_FlightControlMonitoredTakeoff()) {
  391 + USER_LOG_ERROR("Take off failed");
  392 + goto out;
  393 + }
  394 + USER_LOG_INFO("Successful take off\r\n");
  395 + DjiTest_WidgetLogAppend("Successful take off\r\n");
  396 +
  397 + USER_LOG_INFO("--> Step 3: Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point");
  398 + DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point");
  399 + if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {0, 0, 30}, 0, 0.8, 1)) {
  400 + USER_LOG_ERROR("Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point failed");
  401 + goto out;
  402 + }
  403 +
  404 + USER_LOG_INFO("--> Step 4: Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
  405 + DjiTest_WidgetLogAppend("--> Step 4: Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
  406 + if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {10, 0, 0}, 0, 0.8, 1)) {
  407 + USER_LOG_ERROR("Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point failed");
  408 + goto out;
  409 + }
  410 +
  411 + USER_LOG_INFO("--> Step 5: Set aircraft current position as new home location!");
  412 + DjiTest_WidgetLogAppend("--> Step 5: Set aircraft current position as new home location!");
  413 + returnCode = DjiFlightController_SetHomeLocationUsingCurrentAircraftLocation();
  414 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  415 + USER_LOG_ERROR("Set aircraft current position as new home location failed, error code: 0x%08X", returnCode);
  416 + goto out;
  417 + }
  418 +
  419 + USER_LOG_INFO("--> Step 6: Set go home altitude to 50(m)\r\n");
  420 + DjiTest_WidgetLogAppend("--> Step 6: Set go home altitude to 50(m)\r\n");
  421 + returnCode = DjiFlightController_SetGoHomeAltitude(50);
  422 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  423 + USER_LOG_ERROR("Set go home altitude to 50(m) failed, error code: 0x%08X", returnCode);
  424 + goto out;
  425 + }
  426 +
  427 + /*! get go home altitude */
  428 + E_DjiFlightControllerGoHomeAltitude goHomeAltitude;
  429 + returnCode = DjiFlightController_GetGoHomeAltitude(&goHomeAltitude);
  430 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  431 + USER_LOG_ERROR("Get go home altitude failed, error code: 0x%08X", returnCode);
  432 + goto out;
  433 + }
  434 + USER_LOG_INFO("Current go home altitude is %d m\r\n", goHomeAltitude);
  435 + DjiTest_WidgetLogAppend("Current go home altitude is %d m\r\n", goHomeAltitude);
  436 +
  437 + USER_LOG_INFO("--> Step 7: Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
  438 + DjiTest_WidgetLogAppend("--> Step 7: Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
  439 + if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {20, 0, 0}, 0, 0.8, 1)) {
  440 + USER_LOG_ERROR("Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point failed");
  441 + goto out;
  442 + }
  443 +
  444 + USER_LOG_INFO("--> Step 8: Go home and confirm force landing\r\n");
  445 + DjiTest_WidgetLogAppend("--> Step 8: Go home and confirm force landing\r\n");
  446 + if (!DjiTest_FlightControlGoHomeAndConfirmLanding()) {
  447 + USER_LOG_ERROR("Go home and confirm force landing failed");
  448 + goto out;
  449 + }
  450 + USER_LOG_INFO("Successful go home and confirm force landing\r\n");
  451 + DjiTest_WidgetLogAppend("Successful go home and confirm force landing\r\n");
  452 +
  453 + USER_LOG_INFO("-> Step 9: Release joystick authority");
  454 + DjiTest_WidgetLogAppend("-> Step 9: Release joystick authority");
  455 + returnCode = DjiFlightController_ReleaseJoystickCtrlAuthority();
  456 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  457 + USER_LOG_ERROR("Release joystick authority failed, error code: 0x%08X", returnCode);
  458 + goto out;
  459 + }
  460 +
  461 +out:
  462 + USER_LOG_INFO("Flight control go-home-force-landing sample end");
  463 + DjiTest_WidgetLogAppend("Flight control go-home-force-landing sample end");
  464 +}
  465 +
  466 +void DjiTest_FlightControlVelocityControlSample()
  467 +{
  468 + T_DjiReturnCode returnCode;
  469 +
  470 + USER_LOG_INFO("Flight control move-by-velocity sample start");
  471 + DjiTest_WidgetLogAppend("Flight control move-by-velocity sample start");
  472 +
  473 + USER_LOG_INFO("--> Step 1: Obtain joystick control authority");
  474 + DjiTest_WidgetLogAppend("--> Step 1: Obtain joystick control authority");
  475 + returnCode = DjiFlightController_ObtainJoystickCtrlAuthority();
  476 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  477 + USER_LOG_ERROR("Obtain joystick authority failed, error code: 0x%08X", returnCode);
  478 + goto out;
  479 + }
  480 + s_osalHandler->TaskSleepMs(1000);
  481 +
  482 + USER_LOG_INFO("--> Step 2: Take off\r\n");
  483 + DjiTest_WidgetLogAppend("--> Step 2: Take off\r\n");
  484 + if (!DjiTest_FlightControlMonitoredTakeoff()) {
  485 + USER_LOG_ERROR("Take off failed");
  486 + goto out;
  487 + }
  488 + USER_LOG_INFO("Successful take off\r\n");
  489 + DjiTest_WidgetLogAppend("Successful take off\r\n");
  490 +
  491 + USER_LOG_INFO(
  492 + "--> Step 3: Move with north:0(m/s), east:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
  493 + DjiTest_WidgetLogAppend(
  494 + "--> Step 3: Move with north:0(m/s), east:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
  495 + DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {0, 0, 5.0}, 0, 2000);
  496 +
  497 + USER_LOG_INFO("--> Step 4: Emergency brake for 2s");
  498 + DjiTest_WidgetLogAppend("--> Step 4: Emergency brake for 2s");
  499 + returnCode = DjiFlightController_ExecuteEmergencyBrakeAction();
  500 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  501 + USER_LOG_ERROR("Emergency brake failed, error code: 0x%08X", returnCode);
  502 + goto out;
  503 + }
  504 + s_osalHandler->TaskSleepMs(2000);
  505 + returnCode = DjiFlightController_CancelEmergencyBrakeAction();
  506 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  507 + USER_LOG_ERROR("Cancel emergency brake action failed, error code: 0x%08X", returnCode);
  508 + goto out;
  509 + }
  510 +
  511 + USER_LOG_INFO(
  512 + "--> Step 5: Move with north:-1.5(m/s), east:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
  513 + DjiTest_WidgetLogAppend(
  514 + "--> Step 5: Move with north:-1.5(m/s), east:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
  515 + DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {-1.5, 2, 0}, 20, 2000);
  516 +
  517 + USER_LOG_INFO("--> Step 6: Emergency brake for 2s");
  518 + DjiTest_WidgetLogAppend("--> Step 6: Emergency brake for 2s");
  519 + returnCode = DjiFlightController_ExecuteEmergencyBrakeAction();
  520 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  521 + USER_LOG_ERROR("Emergency brake failed, error code: 0x%08X", returnCode);
  522 + goto out;
  523 + }
  524 + s_osalHandler->TaskSleepMs(2000);
  525 + returnCode = DjiFlightController_CancelEmergencyBrakeAction();
  526 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  527 + USER_LOG_ERROR("Cancel emergency brake action failed, error code: 0x%08X", returnCode);
  528 + goto out;
  529 + }
  530 +
  531 + USER_LOG_INFO(
  532 + "--> Step 7: Move with north:3(m/s), east:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
  533 + DjiTest_WidgetLogAppend(
  534 + "--> Step 7: Move with north:3(m/s), east:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
  535 + DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 2500);
  536 +
  537 + USER_LOG_INFO("--> Step 8: Emergency brake for 2s");
  538 + DjiTest_WidgetLogAppend("--> Step 8: Emergency brake for 2s");
  539 + returnCode = DjiFlightController_ExecuteEmergencyBrakeAction();
  540 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  541 + USER_LOG_ERROR("Emergency brake failed, error code: 0x%08X", returnCode);
  542 + goto out;
  543 + }
  544 + s_osalHandler->TaskSleepMs(2000);
  545 + returnCode = DjiFlightController_CancelEmergencyBrakeAction();
  546 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  547 + USER_LOG_ERROR("Cancel emergency brake action failed, error code: 0x%08X", returnCode);
  548 + goto out;
  549 + }
  550 +
  551 + USER_LOG_INFO(
  552 + "--> Step 9: Move with north:-1.6(m/s), east:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
  553 + DjiTest_WidgetLogAppend(
  554 + "--> Step 9: Move with north:-1.6(m/s), east:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
  555 + DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {-1.6, -2, 0}, 0, 2200);
  556 +
  557 + USER_LOG_INFO("--> Step 10: Emergency brake for 2s");
  558 + DjiTest_WidgetLogAppend("--> Step 10: Emergency brake for 2s");
  559 + returnCode = DjiFlightController_ExecuteEmergencyBrakeAction();
  560 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  561 + USER_LOG_ERROR("Emergency brake failed, error code: 0x%08X", returnCode);
  562 + goto out;
  563 + }
  564 + s_osalHandler->TaskSleepMs(2000);
  565 + returnCode = DjiFlightController_CancelEmergencyBrakeAction();
  566 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  567 + USER_LOG_ERROR("Cancel emergency brake action failed, error code: 0x%08X", returnCode);
  568 + goto out;
  569 + }
  570 +
  571 + USER_LOG_INFO("--> Step 11: Landing\r\n");
  572 + DjiTest_WidgetLogAppend("--> Step 11: Landing\r\n");
  573 + if (!DjiTest_FlightControlMonitoredLanding()) {
  574 + USER_LOG_ERROR("Landing failed");
  575 + goto out;
  576 + }
  577 + USER_LOG_INFO("Successful landing\r\n");
  578 + DjiTest_WidgetLogAppend("Successful landing\r\n");
  579 +
  580 + USER_LOG_INFO("--> Step 12: Release joystick authority");
  581 + DjiTest_WidgetLogAppend("--> Step 12: Release joystick authority");
  582 + returnCode = DjiFlightController_ReleaseJoystickCtrlAuthority();
  583 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  584 + USER_LOG_ERROR("Release joystick authority failed, error code: 0x%08X", returnCode);
  585 + goto out;
  586 + }
  587 +
  588 +out:
  589 + USER_LOG_INFO("Flight control move-by-velocity sample end");
  590 + DjiTest_WidgetLogAppend("Flight control move-by-velocity sample end");
  591 +}
  592 +
  593 +void DjiTest_FlightControlArrestFlyingSample()
  594 +{
  595 + T_DjiReturnCode returnCode;
  596 +
  597 + USER_LOG_INFO("Flight control arrest-flying sample start");
  598 + DjiTest_WidgetLogAppend("Flight control arrest-flying sample start");
  599 +
  600 + USER_LOG_INFO("--> Step 1: Enable arrest-flying");
  601 + DjiTest_WidgetLogAppend("--> Step 1: Enable arrest-flying");
  602 + returnCode = DjiFlightController_ArrestFlying();
  603 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  604 + USER_LOG_ERROR("Enable arrest-flying failed, error code: 0x%08X", returnCode);
  605 + goto out;
  606 + }
  607 + s_osalHandler->TaskSleepMs(2000);
  608 +
  609 + //you can replace with takeoff to test in air.
  610 + USER_LOG_INFO("--> Step 2: Turn on motors\r\n");
  611 + DjiTest_WidgetLogAppend("--> Step 2: Turn on motors\r\n");
  612 + returnCode = DjiFlightController_TurnOnMotors();
  613 + if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  614 + USER_LOG_ERROR("Turn on motors successfully, but arrest-flying failed");
  615 + s_osalHandler->TaskSleepMs(4000);
  616 + USER_LOG_INFO("--> Step 3: Turn off motors\r\n");
  617 + DjiTest_WidgetLogAppend("--> Step 3: Turn off motors\r\n");
  618 + returnCode = DjiFlightController_TurnOffMotors();
  619 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  620 + USER_LOG_ERROR("Turn off motors failed, error code: 0x%08X", returnCode);
  621 + }
  622 + goto out;
  623 + }
  624 +
  625 + USER_LOG_INFO("Turn on motors failed.Arrest-flying successfully\r\n");
  626 + DjiTest_WidgetLogAppend("Turn on motors failed.Arrest-flying successfully\r\n");
  627 + s_osalHandler->TaskSleepMs(2000);
  628 +
  629 + USER_LOG_INFO("--> Step 3: Disable arrest-flying");
  630 + DjiTest_WidgetLogAppend("--> Step 3: Disable arrest-flying");
  631 + returnCode = DjiFlightController_CancelArrestFlying();
  632 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  633 + USER_LOG_ERROR("Disable arrest-flying failed, error code: 0x%08X", returnCode);
  634 + goto out;
  635 + }
  636 + s_osalHandler->TaskSleepMs(2000);
  637 +
  638 + USER_LOG_INFO("--> Step 4: Turn on motors\r\n");
  639 + DjiTest_WidgetLogAppend("--> Step 4: Turn on motors\r\n");
  640 + returnCode = DjiFlightController_TurnOnMotors();
  641 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  642 + USER_LOG_ERROR("Turn on motors failed and disable arrest-flying failed, error code: 0x%08X", returnCode);
  643 + goto out;
  644 + } else {
  645 + USER_LOG_INFO("Turn on motors successfully and disable arrest-flying successfully\r\n");
  646 + s_osalHandler->TaskSleepMs(4000);
  647 + USER_LOG_INFO("--> Step 5: Turn off motors");
  648 + DjiTest_WidgetLogAppend("--> Step 5: Turn off motors");
  649 + returnCode = DjiFlightController_TurnOffMotors();
  650 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  651 + USER_LOG_ERROR("Turn off motors failed, error code: 0x%08X", returnCode);
  652 + }
  653 + }
  654 +
  655 +out:
  656 + USER_LOG_INFO("Flight control arrest-flying sample end");
  657 + DjiTest_WidgetLogAppend("Flight control arrest-flying sample end");
  658 +}
  659 +
  660 +void DjiTest_FlightControlSetGetParamSample()
  661 +{
  662 + T_DjiReturnCode returnCode;
  663 + E_DjiFlightControllerObstacleAvoidanceEnableStatus horizontalVisualObstacleAvoidanceStatus;
  664 + E_DjiFlightControllerObstacleAvoidanceEnableStatus horizontalRadarObstacleAvoidanceStatus;
  665 + E_DjiFlightControllerObstacleAvoidanceEnableStatus upwardsVisualObstacleAvoidanceStatus;
  666 + E_DjiFlightControllerObstacleAvoidanceEnableStatus upwardsRadarObstacleAvoidanceStatus;
  667 + E_DjiFlightControllerObstacleAvoidanceEnableStatus downloadsVisualObstacleAvoidanceStatus;
  668 + E_DjiFlightControllerGoHomeAltitude goHomeAltitude;
  669 + E_DjiFlightControllerRtkPositionEnableStatus rtkEnableStatus;
  670 + E_DjiFlightControllerRCLostAction rcLostAction;
  671 + T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
  672 + uint16_t countryCode;
  673 +
  674 + returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
  675 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  676 + USER_LOG_ERROR("get aircraft base info error");
  677 + }
  678 +
  679 + USER_LOG_INFO("Flight control set-get-param sample start");
  680 + DjiTest_WidgetLogAppend("Flight control set-get-param sample start");
  681 +
  682 + returnCode = DjiFlightController_GetCountryCode(&countryCode);
  683 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  684 + USER_LOG_ERROR("Get aircraft country code error.");
  685 + }
  686 + USER_LOG_INFO("country code: %hd", countryCode);
  687 +
  688 + /*! Turn on horizontal vision avoid enable */
  689 + USER_LOG_INFO("--> Step 1: Turn on horizontal visual obstacle avoidance");
  690 + DjiTest_WidgetLogAppend("--> Step 1: Turn on horizontal visual obstacle avoidance");
  691 + returnCode = DjiFlightController_SetHorizontalVisualObstacleAvoidanceEnableStatus(
  692 + DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
  693 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  694 + USER_LOG_ERROR("Turn on horizontal visual obstacle avoidance failed, error code: 0x%08X", returnCode);
  695 + goto out;
  696 + };
  697 + s_osalHandler->TaskSleepMs(1000);
  698 +
  699 + USER_LOG_INFO("--> Step 2: Get horizontal horizontal visual obstacle status\r\n");
  700 + DjiTest_WidgetLogAppend("--> Step 2: Get horizontal horizontal visual obstacle status\r\n");
  701 + returnCode = DjiFlightController_GetHorizontalVisualObstacleAvoidanceEnableStatus(
  702 + &horizontalVisualObstacleAvoidanceStatus);
  703 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  704 + USER_LOG_ERROR("Get horizontal visual obstacle avoidance failed, error code: 0x%08X", returnCode);
  705 + goto out;
  706 + }
  707 + USER_LOG_INFO("Current horizontal visual obstacle avoidance status is %d\r\n",
  708 + horizontalVisualObstacleAvoidanceStatus);
  709 + s_osalHandler->TaskSleepMs(1000);
  710 +
  711 + /*! Turn on horizontal radar avoid enable */
  712 + USER_LOG_INFO("--> Step 3: Turn on horizontal radar obstacle avoidance");
  713 + DjiTest_WidgetLogAppend("--> Step 3: Turn on horizontal radar obstacle avoidance");
  714 + if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
  715 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
  716 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
  717 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
  718 + returnCode = DjiFlightController_SetHorizontalRadarObstacleAvoidanceEnableStatus(
  719 + DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
  720 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  721 + USER_LOG_ERROR("Turn on horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
  722 + goto out;
  723 + };
  724 + }
  725 + s_osalHandler->TaskSleepMs(1000);
  726 +
  727 + USER_LOG_INFO("--> Step 4: Get horizontal radar obstacle avoidance status\r\n");
  728 + DjiTest_WidgetLogAppend("--> Step 4: Get horizontal radar obstacle avoidance status\r\n");
  729 + if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
  730 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
  731 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
  732 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
  733 + returnCode = DjiFlightController_GetHorizontalRadarObstacleAvoidanceEnableStatus(
  734 + &horizontalRadarObstacleAvoidanceStatus);
  735 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  736 + USER_LOG_ERROR("Get horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
  737 + goto out;
  738 + }
  739 + USER_LOG_INFO("Current horizontal radar obstacle avoidance status is %d\r\n",
  740 + horizontalRadarObstacleAvoidanceStatus);
  741 + }
  742 + s_osalHandler->TaskSleepMs(1000);
  743 +
  744 + /*! Turn on upwards vision avoid enable */
  745 + USER_LOG_INFO("--> Step 5: Turn on upwards visual obstacle avoidance.");
  746 + DjiTest_WidgetLogAppend("--> Step 5: Turn on upwards visual obstacle avoidance.");
  747 + returnCode = DjiFlightController_SetUpwardsVisualObstacleAvoidanceEnableStatus(
  748 + DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
  749 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  750 + USER_LOG_ERROR("Turn on upwards visual obstacle avoidance failed, error code: 0x%08X", returnCode);
  751 + goto out;
  752 + };
  753 + s_osalHandler->TaskSleepMs(1000);
  754 +
  755 + USER_LOG_INFO("--> Step 6: Get upwards visual obstacle avoidance status\r\n");
  756 + DjiTest_WidgetLogAppend("--> Step 6: Get upwards visual obstacle avoidance status\r\n");
  757 + returnCode = DjiFlightController_GetUpwardsVisualObstacleAvoidanceEnableStatus(
  758 + &upwardsVisualObstacleAvoidanceStatus);
  759 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  760 + USER_LOG_ERROR("Get upwards visual obstacle avoidance failed, error code: 0x%08X", returnCode);
  761 + goto out;
  762 + }
  763 + USER_LOG_INFO("Current upwards visual obstacle avoidance status is %d\r\n", upwardsVisualObstacleAvoidanceStatus);
  764 + s_osalHandler->TaskSleepMs(1000);
  765 +
  766 + /*! Turn on upwards radar avoid enable */
  767 + USER_LOG_INFO("--> Step 7: Turn on upwards radar obstacle avoidance.");
  768 + DjiTest_WidgetLogAppend("--> Step 7: Turn on upwards radar obstacle avoidance.");
  769 + if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
  770 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
  771 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
  772 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
  773 + returnCode = DjiFlightController_SetUpwardsRadarObstacleAvoidanceEnableStatus(
  774 + DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
  775 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  776 + USER_LOG_ERROR("Turn on upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
  777 + goto out;
  778 + }
  779 + }
  780 + s_osalHandler->TaskSleepMs(1000);
  781 +
  782 + USER_LOG_INFO("--> Step 8: Get upwards radar obstacle avoidance status\r\n");
  783 + DjiTest_WidgetLogAppend("--> Step 8: Get upwards radar obstacle avoidance status\r\n");
  784 + if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
  785 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
  786 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
  787 + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
  788 + returnCode = DjiFlightController_GetUpwardsRadarObstacleAvoidanceEnableStatus(
  789 + &upwardsRadarObstacleAvoidanceStatus);
  790 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  791 + USER_LOG_ERROR("Get upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
  792 + goto out;
  793 + }
  794 + USER_LOG_INFO("Current upwards radar obstacle avoidance status is %d\r\n", upwardsRadarObstacleAvoidanceStatus);
  795 + s_osalHandler->TaskSleepMs(1000);
  796 + }
  797 +
  798 + /*! Turn on downwards vision avoid enable */
  799 + USER_LOG_INFO("--> Step 9: Turn on downwards visual obstacle avoidance.");
  800 + DjiTest_WidgetLogAppend("--> Step 9: Turn on downwards visual obstacle avoidance.");
  801 + returnCode = DjiFlightController_SetDownwardsVisualObstacleAvoidanceEnableStatus(
  802 + DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
  803 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  804 + USER_LOG_ERROR("Turn on downwards visual obstacle avoidance failed, error code: 0x%08X", returnCode);
  805 + goto out;
  806 + }
  807 + s_osalHandler->TaskSleepMs(1000);
  808 +
  809 + USER_LOG_INFO("--> Step 10: Get downwards visual obstacle avoidance status\r\n");
  810 + DjiTest_WidgetLogAppend("--> Step 10: Get downwards visual obstacle avoidance status\r\n");
  811 + returnCode = DjiFlightController_GetDownwardsVisualObstacleAvoidanceEnableStatus(
  812 + &downloadsVisualObstacleAvoidanceStatus);
  813 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  814 + USER_LOG_ERROR("Get downwards visual obstacle avoidance failed, error code: 0x%08X", returnCode);
  815 + goto out;
  816 + }
  817 + USER_LOG_INFO("Current downwards visual obstacle avoidance status is %d\r\n",
  818 + downloadsVisualObstacleAvoidanceStatus);
  819 + s_osalHandler->TaskSleepMs(1000);
  820 +
  821 + /*! Set new go home altitude */
  822 + USER_LOG_INFO("--> Step 11: Set go home altitude to 50(m)");
  823 + DjiTest_WidgetLogAppend("--> Step 11: Set go home altitude to 50(m)");
  824 + returnCode = DjiFlightController_SetGoHomeAltitude(50);
  825 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  826 + USER_LOG_ERROR("Set go home altitude to 50(m) failed, error code: 0x%08X", returnCode);
  827 + goto out;
  828 + }
  829 + s_osalHandler->TaskSleepMs(1000);
  830 +
  831 + /*! get go home altitude */
  832 + USER_LOG_INFO("--> Step 12: Get go home altitude\r\n");
  833 + DjiTest_WidgetLogAppend("--> Step 12: Get go home altitude\r\n");
  834 + returnCode = DjiFlightController_GetGoHomeAltitude(&goHomeAltitude);
  835 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  836 + USER_LOG_ERROR("Get go home altitude failed, error code: 0x%08X", returnCode);
  837 + goto out;
  838 + }
  839 + USER_LOG_INFO("Current go home altitude is %d m\r\n", goHomeAltitude);
  840 + s_osalHandler->TaskSleepMs(2000);
  841 +
  842 + /*! Set rtk enable */
  843 + USER_LOG_INFO("--> Step 13: Set rtk enable status");
  844 + DjiTest_WidgetLogAppend("--> Step 13: Set rtk enable status");
  845 + returnCode = DjiFlightController_SetRtkPositionEnableStatus(DJI_FLIGHT_CONTROLLER_ENABLE_RTK_POSITION);
  846 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  847 + USER_LOG_ERROR("Set rtk enable failed, error code: 0x%08X", returnCode);
  848 + goto out;
  849 + }
  850 + s_osalHandler->TaskSleepMs(1000);
  851 +
  852 + USER_LOG_INFO("--> Step 14: Get rtk enable status\r\n");
  853 + DjiTest_WidgetLogAppend("--> Step 14: Get rtk enable status\r\n");
  854 + returnCode = DjiFlightController_GetRtkPositionEnableStatus(&rtkEnableStatus);
  855 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  856 + USER_LOG_ERROR("Get rtk enable failed, error code: 0x%08X", returnCode);
  857 + goto out;
  858 + }
  859 + USER_LOG_INFO("Current rtk enable status is %d\r\n", rtkEnableStatus);
  860 + s_osalHandler->TaskSleepMs(1000);
  861 +
  862 + /*! Set rc lost action */
  863 + if (aircraftInfoBaseInfo.aircraftType != DJI_AIRCRAFT_TYPE_M300_RTK &&
  864 + aircraftInfoBaseInfo.aircraftType != DJI_AIRCRAFT_TYPE_M350_RTK) {
  865 + USER_LOG_INFO("--> Step 15: Set rc lost action");
  866 + DjiTest_WidgetLogAppend("--> Step 15: Set rc lost action");
  867 + returnCode = DjiFlightController_SetRCLostAction(DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME);
  868 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  869 + USER_LOG_ERROR("Set rc lost action failed, error code: 0x%08X", returnCode);
  870 + goto out;
  871 + }
  872 + s_osalHandler->TaskSleepMs(1000);
  873 +
  874 + USER_LOG_INFO("--> Step 16: Get rc lost action\r\n");
  875 + DjiTest_WidgetLogAppend("--> Step 16: Get rc lost action\r\n");
  876 + returnCode = DjiFlightController_GetRCLostAction(&rcLostAction);
  877 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  878 + USER_LOG_ERROR("Get rc lost action failed, error code: 0x%08X", returnCode);
  879 + goto out;
  880 + }
  881 + USER_LOG_INFO("Current rc lost action is %d\r\n", rcLostAction);
  882 + DjiTest_WidgetLogAppend("Current rc lost action is %d\r\n", rcLostAction);
  883 + s_osalHandler->TaskSleepMs(1000);
  884 + }
  885 +
  886 +out:
  887 + USER_LOG_INFO("Flight control set-get-param sample end");
  888 + DjiTest_WidgetLogAppend("Flight control set-get-param sample end");
  889 +}
  890 +
  891 +T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void)
  892 +{
  893 + USER_LOG_INFO("Received FTS Trigger event, count = %d.", s_ftsTriggerCount);
  894 + if (s_ftsTriggerCount == 0) {
  895 + USER_LOG_WARN("Note: Simulate a trigger failure scenario and return an error value, this function will be invoked again.");
  896 + s_ftsTriggerCount++;
  897 + return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
  898 + } else {
  899 + USER_LOG_WARN("Note: This is an empty implementation, and the FTS signal needs to be triggered by the PWM signal.");
  900 + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  901 + }
  902 +}
  903 +
  904 +void DjiTest_FlightControlPassiveTriggerFtsSample(void)
  905 +{
  906 + T_DjiReturnCode returnCode;
  907 +
  908 + USER_LOG_INFO("Flight control passive trigger FTS sample start.");
  909 +
  910 + if (s_isFtsCallbackRegistered == false) {
  911 + returnCode = DjiFlightController_RegTriggerFtsEventCallback(DjiTest_TriggerFtsEventCallback);
  912 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  913 + USER_LOG_ERROR("Register trigger FTS event callback failed.");
  914 + return;
  915 + } else {
  916 + s_isFtsCallbackRegistered = true;
  917 + USER_LOG_INFO("Register trigger FTS event callback successfully."
  918 + "Please wait for the aircraft to trigger the payload to execute FTS action.");
  919 + }
  920 + } else {
  921 + USER_LOG_WARN("FTS trigger event callback has been registered, no need to register again.");
  922 + }
  923 +}
  924 +
  925 +void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect)
  926 +{
  927 + switch (flightCtrlSampleSelect) {
  928 + case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING: {
  929 + DjiTest_FlightControlTakeOffLandingSample();
  930 + break;
  931 + }
  932 + case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_POSITION_CTRL_LANDING: {
  933 + DjiTest_FlightControlPositionControlSample();
  934 + break;
  935 + }
  936 + case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_GO_HOME_FORCE_LANDING: {
  937 + DjiTest_FlightControlGoHomeForceLandingSample();
  938 + break;
  939 + }
  940 + case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING: {
  941 + DjiTest_FlightControlVelocityControlSample();
  942 + break;
  943 + }
  944 + case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING: {
  945 + DjiTest_FlightControlArrestFlyingSample();
  946 + break;
  947 + }
  948 + case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM: {
  949 + DjiTest_FlightControlSetGetParamSample();
  950 + break;
  951 + }
  952 + case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER: {
  953 + DjiTest_FlightControlPassiveTriggerFtsSample();
  954 + break;
  955 + }
  956 + default:
  957 + break;
  958 + }
  959 +}
  960 +
  961 +uint8_t DjiTest_FlightControlGetDisplayModeIndex(E_DjiFcSubscriptionDisplayMode displayMode)
  962 +{
  963 + uint8_t i;
  964 +
  965 + for (i = 0; i < sizeof(s_flightControlDisplayModeStr) / sizeof(T_DjiTestFlightControlDisplayModeStr); i++) {
  966 + if (s_flightControlDisplayModeStr[i].displayMode == displayMode) {
  967 + return i;
  968 + }
  969 + }
  970 +
  971 + return i;
  972 +}
  973 +
  974 +T_DjiFcSubscriptionFlightStatus DjiTest_FlightControlGetValueOfFlightStatus(void)
  975 +{
  976 + T_DjiReturnCode djiStat;
  977 + T_DjiFcSubscriptionFlightStatus flightStatus;
  978 + T_DjiDataTimestamp flightStatusTimestamp = {0};
  979 +
  980 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
  981 + (uint8_t *) &flightStatus,
  982 + sizeof(T_DjiFcSubscriptionFlightStatus),
  983 + &flightStatusTimestamp);
  984 +
  985 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  986 + USER_LOG_ERROR("Get value of topic flight status error, error code: 0x%08X", djiStat);
  987 + flightStatus = 0;
  988 + } else {
  989 + USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", flightStatusTimestamp.millisecond,
  990 + flightStatusTimestamp.microsecond);
  991 + USER_LOG_DEBUG("Flight status: %d.", flightStatus);
  992 + }
  993 +
  994 + return flightStatus;
  995 +}
  996 +
  997 +T_DjiFcSubscriptionDisplaymode DjiTest_FlightControlGetValueOfDisplayMode(void)
  998 +{
  999 + T_DjiReturnCode djiStat;
  1000 + T_DjiFcSubscriptionDisplaymode displayMode;
  1001 + T_DjiDataTimestamp displayModeTimestamp = {0};
  1002 +
  1003 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_DISPLAYMODE,
  1004 + (uint8_t *) &displayMode,
  1005 + sizeof(T_DjiFcSubscriptionDisplaymode),
  1006 + &displayModeTimestamp);
  1007 +
  1008 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1009 + USER_LOG_ERROR("Get value of topic display mode error, error code: 0x%08X", djiStat);
  1010 + displayMode = 0;
  1011 + } else {
  1012 + USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", displayModeTimestamp.millisecond,
  1013 + displayModeTimestamp.microsecond);
  1014 + USER_LOG_DEBUG("Display mode : %d.", displayMode);
  1015 + }
  1016 +
  1017 + return displayMode;
  1018 +}
  1019 +
  1020 +T_DjiFcSubscriptionHeightFusion DjiTest_FlightControlGetValueOfHeightFusion(void)
  1021 +{
  1022 + T_DjiReturnCode djiStat;
  1023 + T_DjiFcSubscriptionHeightFusion heightFusion = {0};
  1024 + T_DjiDataTimestamp timestamp = {0};
  1025 +
  1026 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION,
  1027 + (uint8_t *) &heightFusion,
  1028 + sizeof(T_DjiFcSubscriptionHeightFusion),
  1029 + &timestamp);
  1030 +
  1031 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1032 + USER_LOG_ERROR("Get value of topic height fusion error, error code: 0x%08X", djiStat);
  1033 + } else {
  1034 + USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", timestamp.millisecond, timestamp.microsecond);
  1035 + USER_LOG_DEBUG("Relative height fusion is %f m", heightFusion);
  1036 + }
  1037 +
  1038 + return heightFusion;
  1039 +}
  1040 +
  1041 +T_DjiFcSubscriptionQuaternion DjiTest_FlightControlGetValueOfQuaternion(void)
  1042 +{
  1043 + T_DjiReturnCode djiStat;
  1044 + T_DjiFcSubscriptionQuaternion quaternion = {0};
  1045 + T_DjiDataTimestamp quaternionTimestamp = {0};
  1046 +
  1047 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION,
  1048 + (uint8_t *) &quaternion,
  1049 + sizeof(T_DjiFcSubscriptionQuaternion),
  1050 + &quaternionTimestamp);
  1051 +
  1052 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1053 + USER_LOG_ERROR("Get value of topic quaternion error, error code: 0x%08X", djiStat);
  1054 + } else {
  1055 + USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", quaternionTimestamp.millisecond,
  1056 + quaternionTimestamp.microsecond);
  1057 + USER_LOG_DEBUG("Quaternion: %f %f %f %f.", quaternion.q0, quaternion.q1, quaternion.q2, quaternion.q3);
  1058 + }
  1059 +
  1060 + return quaternion;
  1061 +}
  1062 +
  1063 +T_DjiFcSubscriptionPositionFused DjiTest_FlightControlGetValueOfPositionFused(void)
  1064 +{
  1065 + T_DjiReturnCode djiStat;
  1066 + T_DjiFcSubscriptionPositionFused positionFused = {0};
  1067 + T_DjiDataTimestamp positionFusedTimestamp = {0};
  1068 +
  1069 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_POSITION_FUSED,
  1070 + (uint8_t *) &positionFused,
  1071 + sizeof(T_DjiFcSubscriptionPositionFused),
  1072 + &positionFusedTimestamp);
  1073 +
  1074 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1075 + USER_LOG_ERROR("Get value of topic position fused error, error code: 0x%08X", djiStat);
  1076 + } else {
  1077 + USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", positionFusedTimestamp.millisecond,
  1078 + positionFusedTimestamp.microsecond);
  1079 + USER_LOG_DEBUG("PositionFused: %f, %f,%f,%d.", positionFused.latitude, positionFused.longitude,
  1080 + positionFused.altitude, positionFused.visibleSatelliteNumber);
  1081 + }
  1082 +
  1083 + return positionFused;
  1084 +}
  1085 +
  1086 +dji_f32_t DjiTest_FlightControlGetValueOfRelativeHeight(void)
  1087 +{
  1088 + T_DjiReturnCode djiStat;
  1089 + T_DjiFcSubscriptionAltitudeFused altitudeFused = 0;
  1090 + T_DjiFcSubscriptionAltitudeOfHomePoint homePointAltitude = 0;
  1091 + dji_f32_t relativeHeight = 0;
  1092 + T_DjiDataTimestamp relativeHeightTimestamp = {0};
  1093 +
  1094 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_OF_HOMEPOINT,
  1095 + (uint8_t *) &homePointAltitude,
  1096 + sizeof(T_DjiFcSubscriptionAltitudeOfHomePoint),
  1097 + &relativeHeightTimestamp);
  1098 +
  1099 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1100 + USER_LOG_ERROR("Get value of topic altitude of home point error, error code: 0x%08X", djiStat);
  1101 + return -1;
  1102 + } else {
  1103 + USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", relativeHeightTimestamp.millisecond,
  1104 + relativeHeightTimestamp.microsecond);
  1105 + }
  1106 +
  1107 + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_FUSED,
  1108 + (uint8_t *) &altitudeFused,
  1109 + sizeof(T_DjiFcSubscriptionAltitudeFused),
  1110 + &relativeHeightTimestamp);
  1111 +
  1112 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1113 + USER_LOG_ERROR("Get value of topic altitude fused error, error code: 0x%08X", djiStat);
  1114 + return -1;
  1115 + } else {
  1116 + USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", relativeHeightTimestamp.millisecond,
  1117 + relativeHeightTimestamp.microsecond);
  1118 + }
  1119 +
  1120 + relativeHeight = altitudeFused - homePointAltitude;
  1121 +
  1122 + return relativeHeight;
  1123 +}
  1124 +
  1125 +bool DjiTest_FlightControlMotorStartedCheck(void)
  1126 +{
  1127 + int motorsNotStarted = 0;
  1128 + int timeoutCycles = 20;
  1129 +
  1130 + while (DjiTest_FlightControlGetValueOfFlightStatus() != DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_ON_GROUND &&
  1131 + DjiTest_FlightControlGetValueOfDisplayMode() != DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ENGINE_START &&
  1132 + motorsNotStarted < timeoutCycles) {
  1133 + motorsNotStarted++;
  1134 + s_osalHandler->TaskSleepMs(100);
  1135 + }
  1136 + return motorsNotStarted != timeoutCycles ? true : false;
  1137 +}
  1138 +
  1139 +bool DjiTest_FlightControlTakeOffInAirCheck(void)
  1140 +{
  1141 + int stillOnGround = 0;
  1142 + int timeoutCycles = 110;
  1143 +
  1144 + while (DjiTest_FlightControlGetValueOfFlightStatus() != DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
  1145 + (DjiTest_FlightControlGetValueOfDisplayMode() != DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ASSISTED_TAKEOFF ||
  1146 + DjiTest_FlightControlGetValueOfDisplayMode() != DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_TAKEOFF) &&
  1147 + stillOnGround < timeoutCycles) {
  1148 + stillOnGround++;
  1149 + s_osalHandler->TaskSleepMs(100);
  1150 + }
  1151 +
  1152 + return stillOnGround != timeoutCycles ? true : false;
  1153 +}
  1154 +
  1155 +bool takeoffFinishedCheck(void)
  1156 +{
  1157 + while (DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_TAKEOFF ||
  1158 + DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ASSISTED_TAKEOFF) {
  1159 + s_osalHandler->TaskSleepMs(1000);
  1160 + }
  1161 +
  1162 + return (DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_P_GPS ||
  1163 + DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ATTITUDE) ? true : false;
  1164 +}
  1165 +
  1166 +bool DjiTest_FlightControlLandFinishedCheck(void)
  1167 +{
  1168 + while (DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING ||
  1169 + DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
  1170 + s_osalHandler->TaskSleepMs(1000);
  1171 + }
  1172 +
  1173 + return (DjiTest_FlightControlGetValueOfDisplayMode() != DJI_FC_SUBSCRIPTION_DISPLAY_MODE_P_GPS ||
  1174 + DjiTest_FlightControlGetValueOfDisplayMode() != DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ATTITUDE) ? true : false;
  1175 +}
  1176 +
  1177 +bool DjiTest_FlightControlCheckActionStarted(E_DjiFcSubscriptionDisplayMode mode)
  1178 +{
  1179 + int actionNotStarted = 0;
  1180 + int timeoutCycles = 20;
  1181 +
  1182 + while (DjiTest_FlightControlGetValueOfDisplayMode() != mode && actionNotStarted < timeoutCycles) {
  1183 + actionNotStarted++;
  1184 + s_osalHandler->TaskSleepMs(100);
  1185 + }
  1186 +
  1187 + if (actionNotStarted == timeoutCycles) {
  1188 + USER_LOG_ERROR("%s start failed, now flight is in %s.",
  1189 + s_flightControlDisplayModeStr[DjiTest_FlightControlGetDisplayModeIndex(mode)].displayModeStr,
  1190 + s_flightControlDisplayModeStr[DjiTest_FlightControlGetDisplayModeIndex(
  1191 + DjiTest_FlightControlGetValueOfDisplayMode())].displayModeStr);
  1192 + return false;
  1193 + } else {
  1194 + USER_LOG_INFO("Now flight is in %s.",
  1195 + s_flightControlDisplayModeStr[DjiTest_FlightControlGetDisplayModeIndex(mode)].displayModeStr);
  1196 + return true;
  1197 + }
  1198 +}
  1199 +
  1200 +bool DjiTest_FlightControlMonitoredTakeoff(void)
  1201 +{
  1202 + T_DjiReturnCode djiStat;
  1203 +
  1204 + //! Start takeoff
  1205 + djiStat = DjiFlightController_StartTakeoff();
  1206 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1207 + USER_LOG_ERROR("Request to take off failed, error code: 0x%08X", djiStat);
  1208 + return false;
  1209 + }
  1210 +
  1211 + //! Motors start check
  1212 + if (!DjiTest_FlightControlMotorStartedCheck()) {
  1213 + USER_LOG_ERROR("Takeoff failed. Motors are not spinning.");
  1214 + return false;
  1215 + } else {
  1216 + USER_LOG_INFO("Motors spinning...");
  1217 + }
  1218 + //! In air check
  1219 + if (!DjiTest_FlightControlTakeOffInAirCheck()) {
  1220 + USER_LOG_ERROR("Takeoff failed. Aircraft is still on the ground, but the "
  1221 + "motors are spinning");
  1222 + return false;
  1223 + } else {
  1224 + USER_LOG_INFO("Ascending...");
  1225 + }
  1226 + //! Finished takeoff check
  1227 + if (!takeoffFinishedCheck()) {
  1228 + USER_LOG_ERROR("Takeoff finished, but the aircraft is in an unexpected mode. "
  1229 + "Please connect DJI GO.");
  1230 + return false;
  1231 + }
  1232 +
  1233 + return true;
  1234 +}
  1235 +
  1236 +bool DjiTest_FlightControlMonitoredLanding(void)
  1237 +{
  1238 + T_DjiReturnCode djiStat;
  1239 + /*! Step 1: Start landing */
  1240 + djiStat = DjiFlightController_StartLanding();
  1241 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1242 + USER_LOG_ERROR("Start landing failed, error code: 0x%08X", djiStat);
  1243 + return false;
  1244 + }
  1245 +
  1246 + /*! Step 2: check Landing start*/
  1247 + if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING)) {
  1248 + USER_LOG_ERROR("Fail to execute Landing action!");
  1249 + return false;
  1250 + } else {
  1251 + /*! Step 3: check Landing finished*/
  1252 + if (!DjiTest_FlightControlLandFinishedCheck()) {
  1253 + USER_LOG_ERROR("Landing finished, but the aircraft is in an unexpected mode. "
  1254 + "Please connect DJI Assistant.");
  1255 + return false;
  1256 + }
  1257 + }
  1258 +
  1259 + return true;
  1260 +}
  1261 +
  1262 +bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
  1263 +{
  1264 + T_DjiReturnCode djiStat;
  1265 + T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
  1266 + E_DjiFlightControllerObstacleAvoidanceEnableStatus enableStatus;
  1267 +
  1268 + djiStat = DjiFlightController_GetDownwardsVisualObstacleAvoidanceEnableStatus(&enableStatus);
  1269 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1270 + USER_LOG_ERROR("get downwards visual obstacle avoidance enable status error");
  1271 + }
  1272 +
  1273 + djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
  1274 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1275 + USER_LOG_ERROR("get aircraft base info error");
  1276 + }
  1277 +
  1278 + /*! Step 1: Start go home */
  1279 + USER_LOG_INFO("Start go home action");
  1280 + djiStat = DjiFlightController_StartGoHome();
  1281 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1282 + USER_LOG_ERROR("Start to go home failed, error code: 0x%08X", djiStat);
  1283 + return false;;
  1284 + }
  1285 +
  1286 + if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_NAVI_GO_HOME)) {
  1287 + return false;
  1288 + } else {
  1289 + while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
  1290 + DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_NAVI_GO_HOME) {
  1291 + s_osalHandler->TaskSleepMs(1000);// waiting for this action finished
  1292 + }
  1293 + }
  1294 +
  1295 + /*! Step 2: Start landing */
  1296 + USER_LOG_INFO("Start landing action");
  1297 + if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING)) {
  1298 + USER_LOG_ERROR("Fail to execute Landing action");
  1299 + return false;
  1300 + } else {
  1301 + while (DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING &&
  1302 + DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
  1303 + T_DjiFcSubscriptionHeightFusion heightFusion = DjiTest_FlightControlGetValueOfHeightFusion();
  1304 + s_osalHandler->TaskSleepMs(1000);
  1305 + if (DJI_AIRCRAFT_TYPE_M3E == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
  1306 + || DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
  1307 + || DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
  1308 + || DJI_AIRCRAFT_TYPE_M4E == aircraftInfoBaseInfo.aircraftType
  1309 + ) {
  1310 + if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) {
  1311 + break;
  1312 + }
  1313 + } else {
  1314 + if ((dji_f64_t) 0.65 < heightFusion && heightFusion < (dji_f64_t) 0.75) {
  1315 + break;
  1316 + }
  1317 + }
  1318 + }
  1319 + }
  1320 +
  1321 + /*! Step 4: Confirm Landing */
  1322 + USER_LOG_INFO("Start confirm Landing and avoid ground action");
  1323 + djiStat = DjiFlightController_StartConfirmLanding();
  1324 + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  1325 + USER_LOG_ERROR("Fail to execute confirm landing avoid ground action, error code: 0x%08X", djiStat);
  1326 + return false;
  1327 + }
  1328 +
  1329 + if (enableStatus == DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE) {
  1330 + if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
  1331 + return false;
  1332 + } else {
  1333 + while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
  1334 + DjiTest_FlightControlGetValueOfDisplayMode() ==
  1335 + DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
  1336 + s_osalHandler->TaskSleepMs(1000);
  1337 + }
  1338 + }
  1339 + } else {
  1340 + while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
  1341 + DjiTest_FlightControlGetValueOfDisplayMode() ==
  1342 + DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
  1343 + s_osalHandler->TaskSleepMs(1000);
  1344 + }
  1345 + }
  1346 +
  1347 + /*! Step 5: Landing finished check*/
  1348 + if (DjiTest_FlightControlGetValueOfDisplayMode() != DJI_FC_SUBSCRIPTION_DISPLAY_MODE_P_GPS ||
  1349 + DjiTest_FlightControlGetValueOfDisplayMode() != DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ATTITUDE) {
  1350 + USER_LOG_INFO("Successful landing");
  1351 + } else {
  1352 + USER_LOG_ERROR("Landing finished, but the aircraft is in an unexpected mode. "
  1353 + "Please connect DJI Assistant.");
  1354 + return false;
  1355 + }
  1356 +
  1357 + return true;
  1358 +}
  1359 +
  1360 +T_DjiTestFlightControlVector3f DjiTest_FlightControlQuaternionToEulerAngle(const T_DjiFcSubscriptionQuaternion quat)
  1361 +{
  1362 + T_DjiTestFlightControlVector3f eulerAngle;
  1363 + double q2sqr = quat.q2 * quat.q2;
  1364 + double t0 = -2.0 * (q2sqr + quat.q3 * quat.q3) + 1.0;
  1365 + double t1 = (dji_f64_t) 2.0 * (quat.q1 * quat.q2 + quat.q0 * quat.q3);
  1366 + double t2 = -2.0 * (quat.q1 * quat.q3 - quat.q0 * quat.q2);
  1367 + double t3 = (dji_f64_t) 2.0 * (quat.q2 * quat.q3 + quat.q0 * quat.q1);
  1368 + double t4 = -2.0 * (quat.q1 * quat.q1 + q2sqr) + 1.0;
  1369 + t2 = (t2 > 1.0) ? 1.0 : t2;
  1370 + t2 = (t2 < -1.0) ? -1.0 : t2;
  1371 + eulerAngle.x = asin(t2);
  1372 + eulerAngle.y = atan2(t3, t4);
  1373 + eulerAngle.z = atan2(t1, t0);
  1374 + return eulerAngle;
  1375 +}
  1376 +
  1377 +T_DjiTestFlightControlVector3f
  1378 +DjiTest_FlightControlLocalOffsetFromGpsAndFusedHeightOffset(const T_DjiFcSubscriptionPositionFused target,
  1379 + const T_DjiFcSubscriptionPositionFused origin,
  1380 + const dji_f32_t targetHeight,
  1381 + const dji_f32_t originHeight)
  1382 +{
  1383 + T_DjiTestFlightControlVector3f deltaNed;
  1384 + double deltaLon = target.longitude - origin.longitude;
  1385 + double deltaLat = target.latitude - origin.latitude;
  1386 + deltaNed.x = deltaLat * s_earthCenter;
  1387 + deltaNed.y = deltaLon * s_earthCenter * cos(target.latitude);
  1388 + deltaNed.z = targetHeight - originHeight;
  1389 +
  1390 + return deltaNed;
  1391 +}
  1392 +
  1393 +T_DjiTestFlightControlVector3f DjiTest_FlightControlVector3FSub(const T_DjiTestFlightControlVector3f vectorA,
  1394 + const T_DjiTestFlightControlVector3f vectorB)
  1395 +{
  1396 + T_DjiTestFlightControlVector3f result;
  1397 + result.x = vectorA.x - vectorB.x;
  1398 + result.y = vectorA.y - vectorB.y;
  1399 + result.z = vectorA.z - vectorB.z;
  1400 + return result;
  1401 +}
  1402 +
  1403 +int DjiTest_FlightControlSignOfData(dji_f32_t data)
  1404 +{
  1405 + return data < 0 ? -1 : 1;
  1406 +}
  1407 +
  1408 +void DjiTest_FlightControlHorizCommandLimit(dji_f32_t speedFactor, dji_f32_t *commandX, dji_f32_t *commandY)
  1409 +{
  1410 + if (fabs(*commandX) > speedFactor)
  1411 + *commandX = speedFactor * DjiTest_FlightControlSignOfData(*commandX);
  1412 + if (fabs(*commandY) > speedFactor)
  1413 + *commandY = speedFactor * DjiTest_FlightControlSignOfData(*commandY);
  1414 +}
  1415 +
  1416 +dji_f32_t DjiTest_FlightControlVectorNorm(T_DjiTestFlightControlVector3f v)
  1417 +{
  1418 + return sqrt(pow(v.x, 2) + pow(v.y, 2) + pow(v.z, 2));
  1419 +}
  1420 +
  1421 +bool
  1422 +DjiTest_FlightControlMoveByPositionOffset(const T_DjiTestFlightControlVector3f offsetDesired, float yawDesiredInDeg,
  1423 + float posThresholdInM, float yawThresholdInDeg)
  1424 +{
  1425 + int timeoutInMilSec = 20000;
  1426 + int controlFreqInHz = 50; // Hz
  1427 + int cycleTimeInMs = 1000 / controlFreqInHz;
  1428 + int outOfControlBoundsTimeLimit = 10 * cycleTimeInMs; // 10 cycles
  1429 + int withinControlBoundsTimeReqmt = 100 * cycleTimeInMs; // 100 cycles
  1430 + int elapsedTimeInMs = 0;
  1431 + int withinBoundsCounter = 0;
  1432 + int outOfBounds = 0;
  1433 + int brakeCounter = 0;
  1434 + int speedFactor = 2;
  1435 +
  1436 + //! get origin position and relative height(from home point)of aircraft.
  1437 + T_DjiFcSubscriptionPositionFused originGPSPosition = DjiTest_FlightControlGetValueOfPositionFused();
  1438 + dji_f32_t originHeightBaseHomePoint = DjiTest_FlightControlGetValueOfRelativeHeight();
  1439 + if (originHeightBaseHomePoint == -1) {
  1440 + USER_LOG_ERROR("Relative height is invalid!");
  1441 + return false;
  1442 + }
  1443 +
  1444 + T_DjiFlightControllerJoystickMode joystickMode = {
  1445 + DJI_FLIGHT_CONTROLLER_HORIZONTAL_POSITION_CONTROL_MODE,
  1446 + DJI_FLIGHT_CONTROLLER_VERTICAL_POSITION_CONTROL_MODE,
  1447 + DJI_FLIGHT_CONTROLLER_YAW_ANGLE_CONTROL_MODE,
  1448 + DJI_FLIGHT_CONTROLLER_HORIZONTAL_GROUND_COORDINATE,
  1449 + DJI_FLIGHT_CONTROLLER_STABLE_CONTROL_MODE_ENABLE,
  1450 + };
  1451 + DjiFlightController_SetJoystickMode(joystickMode);
  1452 +
  1453 + while (elapsedTimeInMs < timeoutInMilSec) {
  1454 + T_DjiFcSubscriptionPositionFused currentGPSPosition = DjiTest_FlightControlGetValueOfPositionFused();
  1455 + T_DjiFcSubscriptionQuaternion currentQuaternion = DjiTest_FlightControlGetValueOfQuaternion();
  1456 + dji_f32_t currentHeight = DjiTest_FlightControlGetValueOfRelativeHeight();
  1457 + if (originHeightBaseHomePoint == -1) {
  1458 + USER_LOG_ERROR("Relative height is invalid!");
  1459 + return false;
  1460 + }
  1461 +
  1462 + float yawInRad = DjiTest_FlightControlQuaternionToEulerAngle(currentQuaternion).z;
  1463 + //! get the vector between aircraft and origin point.
  1464 +
  1465 + T_DjiTestFlightControlVector3f localOffset = DjiTest_FlightControlLocalOffsetFromGpsAndFusedHeightOffset(
  1466 + currentGPSPosition,
  1467 + originGPSPosition,
  1468 + currentHeight,
  1469 + originHeightBaseHomePoint);
  1470 + //! get the vector between aircraft and target point.
  1471 + T_DjiTestFlightControlVector3f offsetRemaining = DjiTest_FlightControlVector3FSub(offsetDesired, localOffset);
  1472 +
  1473 + T_DjiTestFlightControlVector3f positionCommand = offsetRemaining;
  1474 + DjiTest_FlightControlHorizCommandLimit(speedFactor, &positionCommand.x, &positionCommand.y);
  1475 +
  1476 + T_DjiFlightControllerJoystickCommand joystickCommand = {positionCommand.x, positionCommand.y,
  1477 + offsetDesired.z + originHeightBaseHomePoint,
  1478 + yawDesiredInDeg};
  1479 + DjiFlightController_ExecuteJoystickAction(joystickCommand);
  1480 +
  1481 + if (DjiTest_FlightControlVectorNorm(offsetRemaining) < posThresholdInM &&
  1482 + fabs(yawInRad / s_degToRad - yawDesiredInDeg) < yawThresholdInDeg) {
  1483 + //! 1. We are within bounds; start incrementing our in-bound counter
  1484 + withinBoundsCounter += cycleTimeInMs;
  1485 + } else {
  1486 + if (withinBoundsCounter != 0) {
  1487 + //! 2. Start incrementing an out-of-bounds counter
  1488 + outOfBounds += cycleTimeInMs;
  1489 + }
  1490 + }
  1491 + //! 3. Reset withinBoundsCounter if necessary
  1492 + if (outOfBounds > outOfControlBoundsTimeLimit) {
  1493 + withinBoundsCounter = 0;
  1494 + outOfBounds = 0;
  1495 + }
  1496 + //! 4. If within bounds, set flag and break
  1497 + if (withinBoundsCounter >= withinControlBoundsTimeReqmt) {
  1498 + break;
  1499 + }
  1500 + s_osalHandler->TaskSleepMs(cycleTimeInMs);
  1501 + elapsedTimeInMs += cycleTimeInMs;
  1502 + }
  1503 +
  1504 + while (brakeCounter < withinControlBoundsTimeReqmt) {
  1505 + s_osalHandler->TaskSleepMs(cycleTimeInMs);
  1506 + brakeCounter += cycleTimeInMs;
  1507 + }
  1508 +
  1509 + if (elapsedTimeInMs >= timeoutInMilSec) {
  1510 + USER_LOG_ERROR("Task timeout!");
  1511 + return false;
  1512 + }
  1513 +
  1514 + return true;
  1515 +}
  1516 +
  1517 +void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
  1518 + uint32_t timeMs)
  1519 +{
  1520 + T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
  1521 + uint32_t originTime = 0;
  1522 + uint32_t currentTime = 0;
  1523 + uint32_t elapsedTimeInMs = 0;
  1524 + osalHandler->GetTimeMs(&originTime);
  1525 + osalHandler->GetTimeMs(&currentTime);
  1526 + elapsedTimeInMs = currentTime - originTime;
  1527 + T_DjiFlightControllerJoystickMode joystickMode = {
  1528 + DJI_FLIGHT_CONTROLLER_HORIZONTAL_VELOCITY_CONTROL_MODE,
  1529 + DJI_FLIGHT_CONTROLLER_VERTICAL_VELOCITY_CONTROL_MODE,
  1530 + DJI_FLIGHT_CONTROLLER_YAW_ANGLE_RATE_CONTROL_MODE,
  1531 + DJI_FLIGHT_CONTROLLER_HORIZONTAL_GROUND_COORDINATE,
  1532 + DJI_FLIGHT_CONTROLLER_STABLE_CONTROL_MODE_ENABLE,
  1533 + };
  1534 +
  1535 + DjiFlightController_SetJoystickMode(joystickMode);
  1536 + T_DjiFlightControllerJoystickCommand joystickCommand = {offsetDesired.x, offsetDesired.y, offsetDesired.z,
  1537 + yawRate};
  1538 +
  1539 + while (elapsedTimeInMs <= timeMs) {
  1540 + DjiFlightController_ExecuteJoystickAction(joystickCommand);
  1541 + osalHandler->TaskSleepMs(2);
  1542 + osalHandler->GetTimeMs(&currentTime);
  1543 + elapsedTimeInMs = currentTime - originTime;
  1544 + }
  1545 +}
  1546 +
  1547 +T_DjiReturnCode
  1548 +DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJoystickCtrlAuthorityEventInfo eventData)
  1549 +{
  1550 + switch (eventData.joystickCtrlAuthoritySwitchEvent) {
  1551 + case DJI_FLIGHT_CONTROLLER_MSDK_GET_JOYSTICK_CTRL_AUTH_EVENT: {
  1552 + if (eventData.curJoystickCtrlAuthority == DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_MSDK) {
  1553 + USER_LOG_INFO("[Event]Msdk request to obtain joystick ctrl authority\r\n");
  1554 + } else {
  1555 + USER_LOG_INFO("[Event]Msdk request to release joystick ctrl authority\r\n");
  1556 + }
  1557 + break;
  1558 + }
  1559 + case DJI_FLIGHT_CONTROLLER_INTERNAL_GET_JOYSTICK_CTRL_AUTH_EVENT: {
  1560 + if (eventData.curJoystickCtrlAuthority == DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_INTERNAL) {
  1561 + USER_LOG_INFO("[Event]Internal request to obtain joystick ctrl authority\r\n");
  1562 + } else {
  1563 + USER_LOG_INFO("[Event]Internal request to release joystick ctrl authority\r\n");
  1564 + }
  1565 + break;
  1566 + }
  1567 + case DJI_FLIGHT_CONTROLLER_OSDK_GET_JOYSTICK_CTRL_AUTH_EVENT: {
  1568 + if (eventData.curJoystickCtrlAuthority == DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_OSDK) {
  1569 + USER_LOG_INFO("[Event] Request to obtain joystick ctrl authority\r\n");
  1570 + } else {
  1571 + USER_LOG_INFO("[Event] Request to release joystick ctrl authority\r\n");
  1572 + }
  1573 + break;
  1574 + }
  1575 + case DJI_FLIGHT_CONTROLLER_RC_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT :
  1576 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to rc lost\r\n");
  1577 + break;
  1578 + case DJI_FLIGHT_CONTROLLER_RC_NOT_P_MODE_RESET_JOYSTICK_CTRL_AUTH_EVENT :
  1579 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc for rc is not in P mode\r\n");
  1580 + break;
  1581 + case DJI_FLIGHT_CONTROLLER_RC_SWITCH_MODE_GET_JOYSTICK_CTRL_AUTH_EVENT :
  1582 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to rc switching mode\r\n");
  1583 + break;
  1584 + case DJI_FLIGHT_CONTROLLER_RC_PAUSE_GET_JOYSTICK_CTRL_AUTH_EVENT :
  1585 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to rc pausing\r\n");
  1586 + break;
  1587 + case DJI_FLIGHT_CONTROLLER_RC_REQUEST_GO_HOME_GET_JOYSTICK_CTRL_AUTH_EVENT :
  1588 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to rc request for return\r\n");
  1589 + break;
  1590 + case DJI_FLIGHT_CONTROLLER_LOW_BATTERY_GO_HOME_RESET_JOYSTICK_CTRL_AUTH_EVENT :
  1591 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc for low battery return\r\n");
  1592 + break;
  1593 + case DJI_FLIGHT_CONTROLLER_LOW_BATTERY_LANDING_RESET_JOYSTICK_CTRL_AUTH_EVENT :
  1594 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc for low battery land\r\n");
  1595 + break;
  1596 + case DJI_FLIGHT_CONTROLLER_OSDK_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT:
  1597 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to sdk lost\r\n");
  1598 + break;
  1599 + case DJI_FLIGHT_CONTROLLER_NERA_FLIGHT_BOUNDARY_RESET_JOYSTICK_CTRL_AUTH_EVENT :
  1600 + USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to near boundary\r\n");
  1601 + break;
  1602 + default:
  1603 + USER_LOG_INFO("[Event]Unknown joystick ctrl authority event\r\n");
  1604 + }
  1605 +
  1606 + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
  1607 +}
  1608 +
  1609 +/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
@@ -144,6 +144,7 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition, @@ -144,6 +144,7 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
144 || DJI_AIRCRAFT_SERIES_M3 == aircraftSeries 144 || DJI_AIRCRAFT_SERIES_M3 == aircraftSeries
145 || DJI_AIRCRAFT_SERIES_M3D == aircraftSeries 145 || DJI_AIRCRAFT_SERIES_M3D == aircraftSeries
146 || DJI_AIRCRAFT_SERIES_M4 == aircraftSeries 146 || DJI_AIRCRAFT_SERIES_M4 == aircraftSeries
  147 + || DJI_AIRCRAFT_SERIES_M4D == aircraftSeries
147 ) { 148 ) {
148 if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) { 149 if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
149 T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0}; 150 T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
  1 +/**
  2 + ********************************************************************
  3 + * @file test_gimbal_manager.c
  4 + * @brief
  5 + *
  6 + * @copyright (c) 2021 DJI. All rights reserved.
  7 + *
  8 + * All information contained herein is, and remains, the property of DJI.
  9 + * The intellectual and technical concepts contained herein are proprietary
  10 + * to DJI and may be covered by U.S. and foreign patents, patents in process,
  11 + * and protected by trade secret or copyright law. Dissemination of this
  12 + * information, including but not limited to data and other proprietary
  13 + * material(s) incorporated within the information, in any form, is strictly
  14 + * prohibited without the express written consent of DJI.
  15 + *
  16 + * If you receive this source code without DJI’s authorization, you may not
  17 + * further disseminate the information, and you must immediately remove the
  18 + * source code and notify DJI of its removal. DJI reserves the right to pursue
  19 + * legal actions against you for any loss(es) or damage(s) caused by your
  20 + * failure to do so.
  21 + *
  22 + *********************************************************************
  23 + */
  24 +
  25 +/* Includes ------------------------------------------------------------------*/
  26 +#include <utils/util_misc.h>
  27 +#include <widget_interaction_test/test_widget_interaction.h>
  28 +#include "test_gimbal_manager.h"
  29 +#include "dji_platform.h"
  30 +#include "dji_logger.h"
  31 +#include "dji_gimbal_manager.h"
  32 +#include "dji_fc_subscription.h"
  33 +#include "dji_aircraft_info.h"
  34 +
  35 +/* Private constants ---------------------------------------------------------*/
  36 +
  37 +/* Private types -------------------------------------------------------------*/
  38 +typedef enum {
  39 + DJI_TEST_GIMBAL_ROTATION,
  40 + DJI_TEST_GIMBAL_RESET,
  41 +} E_DjiTestGimbalAction;
  42 +
  43 +typedef struct {
  44 + E_DjiTestGimbalAction action;
  45 + T_DjiGimbalManagerRotation rotation;
  46 +} T_DjiTestGimbalActionList;
  47 +
  48 +/* Private values -------------------------------------------------------------*/
  49 +static const T_DjiTestGimbalActionList s_rotationActionList[] =
  50 +{
  51 + {.action = DJI_TEST_GIMBAL_RESET},
  52 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
  53 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
  54 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
  55 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
  56 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
  57 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
  58 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
  59 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
  60 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, 4, 0.2},
  61 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, -4, 0.2},
  62 + {.action = DJI_TEST_GIMBAL_RESET},
  63 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 30, 0, 0, 0.2},
  64 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -90, 0, 0, 0.5},
  65 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -60, 0, 0, 0.5},
  66 + {.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -30, 0, 0, 0.5},
  67 + {.action = DJI_TEST_GIMBAL_RESET},
  68 +};
  69 +
  70 +/* Private functions declaration ---------------------------------------------*/
  71 +
  72 +/* Exported functions definition ---------------------------------------------*/
  73 +T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition, E_DjiGimbalMode gimbalMode)
  74 +{
  75 + T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
  76 + T_DjiReturnCode returnCode;
  77 + T_DjiGimbalManagerRotation rotation;
  78 + T_DjiAircraftInfoBaseInfo baseInfo;
  79 + E_DjiAircraftSeries aircraftSeries;
  80 +
  81 + returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
  82 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  83 + USER_LOG_ERROR("Failed to get aircraft base info, return code 0x%08X", returnCode);
  84 + goto out;
  85 + }
  86 +
  87 + aircraftSeries = baseInfo.aircraftSeries;
  88 +
  89 + USER_LOG_INFO("Gimbal manager sample start");
  90 + DjiTest_WidgetLogAppend("Gimbal manager sample start");
  91 +
  92 + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
  93 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  94 + USER_LOG_ERROR("Failed to subscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
  95 + goto out;
  96 + }
  97 +
  98 + USER_LOG_INFO("--> Step 1: Init gimbal manager module");
  99 + DjiTest_WidgetLogAppend("--> Step 1: Init gimbal manager module");
  100 + returnCode = DjiGimbalManager_Init();
  101 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  102 + USER_LOG_ERROR("Init gimbal manager failed, error code: 0x%08X", returnCode);
  103 + goto out;
  104 + }
  105 +
  106 + if (gimbalMode == DJI_GIMBAL_MODE_FREE) {
  107 + USER_LOG_INFO("--> Step 2: Set gimbal to free mode");
  108 + DjiTest_WidgetLogAppend("--> Step 2: Set gimbal to free mode");
  109 + } else if (gimbalMode == DJI_GIMBAL_MODE_YAW_FOLLOW) {
  110 + USER_LOG_INFO("--> Step 2: Set gimbal to yaw follow mode");
  111 + DjiTest_WidgetLogAppend("--> Step 2: Set gimbal to yaw follow mode");
  112 + }
  113 + returnCode = DjiGimbalManager_SetMode(mountPosition, gimbalMode);
  114 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  115 + USER_LOG_ERROR("Set gimbal mode failed, error code: 0x%08X", returnCode);
  116 + goto out;
  117 + }
  118 +
  119 + USER_LOG_INFO("--> Step 3: Reset gimbal angles.\r\n");
  120 + returnCode = DjiGimbalManager_Reset(mountPosition, DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW);
  121 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  122 + USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
  123 + }
  124 +
  125 + USER_LOG_INFO("--> Step 4: Rotate gimbal to target angle by action list\r\n");
  126 + for (int i = 0; i < sizeof(s_rotationActionList) / sizeof(T_DjiTestGimbalActionList); ++i) {
  127 + if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_RESET) {
  128 + USER_LOG_INFO("Target gimbal reset.\r\n");
  129 + returnCode = DjiGimbalManager_Reset(mountPosition, DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW);
  130 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  131 + USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
  132 + }
  133 + osalHandler->TaskSleepMs(2000);
  134 + } else if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_ROTATION) {
  135 +
  136 + if (gimbalMode == DJI_GIMBAL_MODE_FREE &&
  137 + s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
  138 + continue;
  139 + }
  140 +
  141 + rotation = s_rotationActionList[i].rotation;
  142 +
  143 + if (DJI_AIRCRAFT_SERIES_M30 == aircraftSeries
  144 + || DJI_AIRCRAFT_SERIES_M3 == aircraftSeries
  145 + || DJI_AIRCRAFT_SERIES_M3D == aircraftSeries
  146 + || DJI_AIRCRAFT_SERIES_M4 == aircraftSeries
  147 + ) {
  148 + if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
  149 + T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
  150 + T_DjiDataTimestamp timestamp = {0};
  151 + returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
  152 + (uint8_t *) &gimbalAngles,
  153 + sizeof(T_DjiFcSubscriptionGimbalAngles),
  154 + &timestamp);
  155 + rotation.yaw = gimbalAngles.z;
  156 + }
  157 + }
  158 +
  159 + USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)", rotation.pitch, rotation.roll, rotation.yaw);
  160 +
  161 + returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
  162 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  163 + USER_LOG_ERROR("Target gimbal pry = (%.1f, %.1f, %.1f) failed, error code: 0x%08X",
  164 + s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
  165 + s_rotationActionList[i].rotation.yaw,
  166 + returnCode);
  167 + }
  168 + osalHandler->TaskSleepMs(1000);
  169 + }
  170 + }
  171 +
  172 + returnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES);
  173 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  174 + USER_LOG_ERROR("Failed to unsubscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
  175 + }
  176 +
  177 + USER_LOG_INFO("--> Step 5: Deinit gimbal manager module");
  178 + DjiTest_WidgetLogAppend("--> Step 5: Deinit gimbal manager module");
  179 + returnCode = DjiGimbalManager_Deinit();
  180 + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
  181 + USER_LOG_ERROR("Deinit gimbal manager failed, error code: 0x%08X", returnCode);
  182 + goto out;
  183 + }
  184 +
  185 +out:
  186 + USER_LOG_INFO("Gimbal manager sample end");
  187 +
  188 + return returnCode;
  189 +}
  190 +
  191 +/* Private functions definition-----------------------------------------------*/
  192 +/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
@@ -280,6 +280,7 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition) @@ -280,6 +280,7 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
280 if (DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType 280 if (DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
281 || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType 281 || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
282 || DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType 282 || DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
  283 + || DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
283 ) { 284 ) {
284 USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n"); 285 USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n");
285 286