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54 个修改的文件
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1063 行增加
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2152 行删除
| @@ -26,11 +26,11 @@ project_build/GDU_普宙PSDK | @@ -26,11 +26,11 @@ project_build/GDU_普宙PSDK | ||
| 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-v3.12.0/* | 29 | +project_build/Psdk312/* |
| 30 | 30 | ||
| 31 | project_build/特殊固件 | 31 | project_build/特殊固件 |
| 32 | project_build/DJI_Test | 32 | project_build/DJI_Test |
| 33 | - | 33 | +project_build/Psdk2257 |
| 34 | 34 | ||
| 35 | # project_build/Attention_提示程序 | 35 | # project_build/Attention_提示程序 |
| 36 | 36 |
| @@ -169,7 +169,10 @@ | @@ -169,7 +169,10 @@ | ||
| 169 | "psdk_ui_value_menu.h": "c", | 169 | "psdk_ui_value_menu.h": "c", |
| 170 | "iflybak": "c", | 170 | "iflybak": "c", |
| 171 | "iflybak2": "c", | 171 | "iflybak2": "c", |
| 172 | - "ifybak3": "c" | 172 | + "ifybak3": "c", |
| 173 | + "jz_h150a.h": "c", | ||
| 174 | + "jzsdk_framesequencequeue.h": "c", | ||
| 175 | + "searchlighttemcontrol.h": "c" | ||
| 173 | }, | 176 | }, |
| 174 | "Codegeex.GenerationPreference": "automatic", | 177 | "Codegeex.GenerationPreference": "automatic", |
| 175 | "C_Cpp.dimInactiveRegions": false, | 178 | "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_T40) | 4 | +set(DEVICE_NAME JZ_H150A) |
| 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") |
| @@ -14,6 +14,7 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H150S") | @@ -14,6 +14,7 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H150S") | ||
| 14 | set(MAKE_COMPILER ARM_CORTEXA9_LINUX) | 14 | set(MAKE_COMPILER ARM_CORTEXA9_LINUX) |
| 15 | elseif("${DEVICE_NAME}" STREQUAL "JZ_H150T") | 15 | elseif("${DEVICE_NAME}" STREQUAL "JZ_H150T") |
| 16 | set(MAKE_COMPILER ARM_CORTEXA9_LINUX) | 16 | set(MAKE_COMPILER ARM_CORTEXA9_LINUX) |
| 17 | + #set(MAKE_COMPILER LINARO_ARM_CORTEX_LINUX) | ||
| 17 | elseif("${DEVICE_NAME}" STREQUAL "JZ_H10") | 18 | elseif("${DEVICE_NAME}" STREQUAL "JZ_H10") |
| 18 | set(MAKE_COMPILER ARM_CORTEXA9_LINUX) | 19 | set(MAKE_COMPILER ARM_CORTEXA9_LINUX) |
| 19 | elseif("${DEVICE_NAME}" STREQUAL "JZ_H10T") | 20 | elseif("${DEVICE_NAME}" STREQUAL "JZ_H10T") |
| @@ -32,7 +33,7 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_C1") | @@ -32,7 +33,7 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_C1") | ||
| 32 | set(MAKE_COMPILER ARM_X86_64_ARRCH64) | 33 | set(MAKE_COMPILER ARM_X86_64_ARRCH64) |
| 33 | elseif("${DEVICE_NAME}" STREQUAL "JZ_ST") | 34 | elseif("${DEVICE_NAME}" STREQUAL "JZ_ST") |
| 34 | set(MAKE_COMPILER ARM_X86_64_ARRCH64) | 35 | set(MAKE_COMPILER ARM_X86_64_ARRCH64) |
| 35 | -elseif("${DEVICE_NAME}" STREQUAL "JZ_H150G") | 36 | +elseif("${DEVICE_NAME}" STREQUAL "JZ_H150A") |
| 36 | set(MAKE_COMPILER LINARO_ARM_CORTEX_LINUX) | 37 | set(MAKE_COMPILER LINARO_ARM_CORTEX_LINUX) |
| 37 | elseif("${DEVICE_NAME}" STREQUAL "JZ_T40") | 38 | elseif("${DEVICE_NAME}" STREQUAL "JZ_T40") |
| 38 | set(MAKE_COMPILER LINARO_ARM_CORTEX_LINUX) | 39 | set(MAKE_COMPILER LINARO_ARM_CORTEX_LINUX) |
| @@ -29,7 +29,7 @@ set(WARNLIGHT_MODULE VERSION_SWITCH_OFF) | @@ -29,7 +29,7 @@ set(WARNLIGHT_MODULE VERSION_SWITCH_OFF) | ||
| 29 | set(MEGAPHONE_MODULE VERSION_SWITCH_OFF) | 29 | set(MEGAPHONE_MODULE VERSION_SWITCH_OFF) |
| 30 | 30 | ||
| 31 | # TTS模块 | 31 | # TTS模块 |
| 32 | -set(TTS_MODULE JZ_TTS_MODULE_1) | 32 | +set(TTS_MODULE VERSION_SWITCH_OFF) |
| 33 | 33 | ||
| 34 | ################################################## | 34 | ################################################## |
| 35 | 35 | ||
| @@ -125,6 +125,9 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H1T") | @@ -125,6 +125,9 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H1T") | ||
| 125 | # 添加AudioDeal 音频处理模块 | 125 | # 添加AudioDeal 音频处理模块 |
| 126 | set(AUDIODEAL_MODULE VERSION_SWITCH_ON) | 126 | set(AUDIODEAL_MODULE VERSION_SWITCH_ON) |
| 127 | 127 | ||
| 128 | + # 添加TTS模块 | ||
| 129 | + set(TTS_MODULE JZ_TTS_MODULE_1) | ||
| 130 | + | ||
| 128 | # 添加Gimbal 云台处理模块 | 131 | # 添加Gimbal 云台处理模块 |
| 129 | set(GIMBAL_MODULE VERSION_SWITCH_ON) | 132 | set(GIMBAL_MODULE VERSION_SWITCH_ON) |
| 130 | 133 | ||
| @@ -304,7 +307,10 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H150S") | @@ -304,7 +307,10 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H150S") | ||
| 304 | 307 | ||
| 305 | # 添加喊话器模块 | 308 | # 添加喊话器模块 |
| 306 | set(MEGAPHONE_MODULE VERSION_SWITCH_ON) | 309 | set(MEGAPHONE_MODULE VERSION_SWITCH_ON) |
| 307 | - | 310 | + |
| 311 | + # 添加TTS模块 | ||
| 312 | + set(TTS_MODULE JZ_TTS_MODULE_1) | ||
| 313 | + | ||
| 308 | # 添加MediaProc 媒体管理模块 | 314 | # 添加MediaProc 媒体管理模块 |
| 309 | set(MEDIA_PROC_MODULE VERSION_SWITCH_ON) | 315 | set(MEDIA_PROC_MODULE VERSION_SWITCH_ON) |
| 310 | 316 | ||
| @@ -331,6 +337,9 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H150T") | @@ -331,6 +337,9 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H150T") | ||
| 331 | # 添加喊话器模块 | 337 | # 添加喊话器模块 |
| 332 | set(MEGAPHONE_MODULE VERSION_SWITCH_ON) | 338 | set(MEGAPHONE_MODULE VERSION_SWITCH_ON) |
| 333 | 339 | ||
| 340 | + # 添加TTS模块 | ||
| 341 | + set(TTS_MODULE JZ_TTS_MODULE_1) | ||
| 342 | + | ||
| 334 | # 添加MediaProc 媒体管理模块 | 343 | # 添加MediaProc 媒体管理模块 |
| 335 | set(MEDIA_PROC_MODULE VERSION_SWITCH_ON) | 344 | set(MEDIA_PROC_MODULE VERSION_SWITCH_ON) |
| 336 | 345 | ||
| @@ -386,7 +395,10 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_ST") | @@ -386,7 +395,10 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_ST") | ||
| 386 | 395 | ||
| 387 | message("ST基础配置完毕\n") | 396 | message("ST基础配置完毕\n") |
| 388 | 397 | ||
| 389 | -elseif("${DEVICE_NAME}" STREQUAL "JZ_H150G") | 398 | +elseif("${DEVICE_NAME}" STREQUAL "JZ_H150A") |
| 399 | + | ||
| 400 | + # 添加WARNLIGHT 警示灯处理模块 | ||
| 401 | + set(WARNLIGHT_MODULE VERSION_SWITCH_ON) | ||
| 390 | 402 | ||
| 391 | # 添加AudioDeal 音频处理模块 | 403 | # 添加AudioDeal 音频处理模块 |
| 392 | set(AUDIODEAL_MODULE VERSION_SWITCH_ON) | 404 | set(AUDIODEAL_MODULE VERSION_SWITCH_ON) |
| @@ -394,14 +406,17 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H150G") | @@ -394,14 +406,17 @@ elseif("${DEVICE_NAME}" STREQUAL "JZ_H150G") | ||
| 394 | # 添加喊话器模块 | 406 | # 添加喊话器模块 |
| 395 | set(MEGAPHONE_MODULE VERSION_SWITCH_ON) | 407 | set(MEGAPHONE_MODULE VERSION_SWITCH_ON) |
| 396 | 408 | ||
| 409 | + # 添加TTS模块 | ||
| 410 | + set(TTS_MODULE JZ_TTS_MODULE_2) | ||
| 411 | + | ||
| 397 | # 添加FFMPEG及其附属模块 | 412 | # 添加FFMPEG及其附属模块 |
| 398 | set(FFMPEG_MODULE VERSION_SWITCH_ON) | 413 | set(FFMPEG_MODULE VERSION_SWITCH_ON) |
| 399 | 414 | ||
| 400 | #设备独立配置源文件 | 415 | #设备独立配置源文件 |
| 401 | - file(GLOB_RECURSE DEVICE_CONFOG_SRC ${ROOT_DIRS}JZsdk_Config/DeviceSample/JZ_H150G/*.c) | 416 | + file(GLOB_RECURSE DEVICE_CONFOG_SRC ${ROOT_DIRS}JZsdk_Config/DeviceSample/JZ_H150A/*.c) |
| 402 | list(APPEND ALL_SRC_FILES ${DEVICE_CONFOG_SRC}) | 417 | list(APPEND ALL_SRC_FILES ${DEVICE_CONFOG_SRC}) |
| 403 | 418 | ||
| 404 | - message("JZ_H150G基础配置完毕\n") | 419 | + message("JZ_H150A基础配置完毕\n") |
| 405 | 420 | ||
| 406 | elseif("${DEVICE_NAME}" STREQUAL "JZ_T40") | 421 | elseif("${DEVICE_NAME}" STREQUAL "JZ_T40") |
| 407 | 422 |
| @@ -15,6 +15,7 @@ | @@ -15,6 +15,7 @@ | ||
| 15 | #define APP_PSDK 0x01 | 15 | #define APP_PSDK 0x01 |
| 16 | #define APP_UART 0x02 | 16 | #define APP_UART 0x02 |
| 17 | #define APP_TEST 0x03 | 17 | #define APP_TEST 0x03 |
| 18 | +#define APP_ATTENTION 0x04 | ||
| 18 | 19 | ||
| 19 | //平台选择 | 20 | //平台选择 |
| 20 | #define PLATFORM_H3 0x01 | 21 | #define PLATFORM_H3 0x01 |
| @@ -45,7 +46,7 @@ | @@ -45,7 +46,7 @@ | ||
| 45 | 46 | ||
| 46 | #define JZ_H150S 0x13 | 47 | #define JZ_H150S 0x13 |
| 47 | #define JZ_H150T 0x15 | 48 | #define JZ_H150T 0x15 |
| 48 | -#define JZ_H150G 0x20 | 49 | +#define JZ_H150A 0x20 |
| 49 | 50 | ||
| 50 | #define JZ_H10 0x12 | 51 | #define JZ_H10 0x12 |
| 51 | #define JZ_H10T 0x14 | 52 | #define JZ_H10T 0x14 |
| @@ -141,6 +141,8 @@ typedef enum { | @@ -141,6 +141,8 @@ typedef enum { | ||
| 141 | JZ_INSCODE_5AFRAME_GIMBAL_YAW_FINETUNING_CONTROL = 0x10000B05, //云台朝向微调 | 141 | JZ_INSCODE_5AFRAME_GIMBAL_YAW_FINETUNING_CONTROL = 0x10000B05, //云台朝向微调 |
| 142 | JZ_INSCODE_5AFRAME_GIMBAL_ROLL_FINETUNING_CONTROL = 0x10000B06, //云台旋转微调 | 142 | JZ_INSCODE_5AFRAME_GIMBAL_ROLL_FINETUNING_CONTROL = 0x10000B06, //云台旋转微调 |
| 143 | 143 | ||
| 144 | + JZ_INSCODE_5AFRAME_GIMBAL_PITCH_COMPENSATE = 0x10000B10, //云台俯仰补偿 | ||
| 145 | + | ||
| 144 | 146 | ||
| 145 | JZ_INSCODE_5AFRAME_LASER_CONTROL = 0x10000C00, //激光控制 | 147 | JZ_INSCODE_5AFRAME_LASER_CONTROL = 0x10000C00, //激光控制 |
| 146 | JZ_INSCODE_5AFRAME_LASER_MODE = 0x10000C01, //激光模式 | 148 | JZ_INSCODE_5AFRAME_LASER_MODE = 0x10000C01, //激光模式 |
| @@ -63,6 +63,8 @@ typedef enum JZsdk_Widget_Control | @@ -63,6 +63,8 @@ typedef enum JZsdk_Widget_Control | ||
| 63 | 63 | ||
| 64 | JZSDK_WIDGET_SIDE_LASER_MODE = 0x0050, //侧射激光模式 | 64 | JZSDK_WIDGET_SIDE_LASER_MODE = 0x0050, //侧射激光模式 |
| 65 | 65 | ||
| 66 | + JZSDK_WIDGET_GIMBAL_SINGLE_COMPENSATION_LEFT = 0x0060, //左云台单轴补偿 | ||
| 67 | + JZSDK_WIDGET_GIMBAL_SINGLE_COMPENSATION_RIGHT = 0x0061, //右云台单轴补偿 | ||
| 66 | }JZsdk_Widget_Control; | 68 | }JZsdk_Widget_Control; |
| 67 | 69 | ||
| 68 | 70 |
| 1 | +#include <stdio.h> | ||
| 2 | + | ||
| 3 | +#include "JZsdk_FrameSequenceQueue.h" | ||
| 4 | + | ||
| 5 | + | ||
| 6 | + | ||
| 7 | +T_JZsdkReturnCode JZsdk_Osal_GetFrameSequenceQueue(U8_t *frameSequence) | ||
| 8 | +{ | ||
| 9 | + //该功能后续完善 | ||
| 10 | + if (*frameSequence != 0x00) | ||
| 11 | + { | ||
| 12 | + *frameSequence == *frameSequence; | ||
| 13 | + } | ||
| 14 | + else | ||
| 15 | + { | ||
| 16 | + *frameSequence = 0x00; | ||
| 17 | + } | ||
| 18 | + | ||
| 19 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 20 | +} |
| 1 | +/** | ||
| 2 | + ******************************************************************** | ||
| 3 | + * @file JZsdk_FrameSequenceQueue.h | ||
| 4 | + * JZsdk_FrameSequenceQueue.c 的头文件 | ||
| 5 | + * | ||
| 6 | + ********************************************************************* | ||
| 7 | + */ | ||
| 8 | + | ||
| 9 | +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/ | ||
| 10 | +#ifndef JZSDK_FRAMESEQUENCEQUEUE_H | ||
| 11 | +#define JZSDK_FRAMESEQUENCEQUEUE_H | ||
| 12 | + | ||
| 13 | +/* Includes ------------------------------------------------------------------*/ | ||
| 14 | +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h" | ||
| 15 | + | ||
| 16 | +#ifdef __cplusplus | ||
| 17 | +extern "C" { | ||
| 18 | +#endif | ||
| 19 | + | ||
| 20 | +/* Exported constants --------------------------------------------------------*/ | ||
| 21 | +/* 常亮定义*/ | ||
| 22 | + | ||
| 23 | +/* Exported macro ------------------------------------------------------------*/ | ||
| 24 | + | ||
| 25 | +/* Exported types ------------------------------------------------------------*/ | ||
| 26 | + | ||
| 27 | + | ||
| 28 | +/* Exported functions --------------------------------------------------------*/ | ||
| 29 | +T_JZsdkReturnCode JZsdk_Osal_GetFrameSequenceQueue(U8_t *frameSequence); | ||
| 30 | + | ||
| 31 | +#ifdef __cplusplus | ||
| 32 | +} | ||
| 33 | +#endif | ||
| 34 | + | ||
| 35 | +#endif | ||
| 36 | +/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/ |
| @@ -2,6 +2,7 @@ | @@ -2,6 +2,7 @@ | ||
| 2 | #include "./JZsdk_Osal.h" | 2 | #include "./JZsdk_Osal.h" |
| 3 | 3 | ||
| 4 | 4 | ||
| 5 | +#include "./JZsdk_FrameSequenceQueue/JZsdk_FrameSequenceQueue.h" | ||
| 5 | 6 | ||
| 6 | 7 | ||
| 7 | static T_JZsdkOsalHandler *g_osalHandler = NULL; | 8 | static T_JZsdkOsalHandler *g_osalHandler = NULL; |
| @@ -63,6 +64,7 @@ T_JZsdkReturnCode JZsdk_OsalInit() | @@ -63,6 +64,7 @@ T_JZsdkReturnCode JZsdk_OsalInit() | ||
| 63 | .GetTimeMs = JZsdk_Osal_GetTimeMs, | 64 | .GetTimeMs = JZsdk_Osal_GetTimeMs, |
| 64 | .GetTimeUs = JZsdk_Osal_GetTimeUs, | 65 | .GetTimeUs = JZsdk_Osal_GetTimeUs, |
| 65 | .GetRandomNum = JZsdk_Osal_GetRandomNum, | 66 | .GetRandomNum = JZsdk_Osal_GetRandomNum, |
| 67 | + .GetFrameSequenceQueueNum = JZsdk_Osal_GetFrameSequenceQueue, | ||
| 66 | }; | 68 | }; |
| 67 | 69 | ||
| 68 | T_JZsdkFSHandler fileSystemHandler = { | 70 | T_JZsdkFSHandler fileSystemHandler = { |
| @@ -70,6 +70,8 @@ typedef struct { | @@ -70,6 +70,8 @@ typedef struct { | ||
| 70 | void *(*Malloc)(U32_t size); | 70 | void *(*Malloc)(U32_t size); |
| 71 | 71 | ||
| 72 | void (*Free)(void *ptr); | 72 | void (*Free)(void *ptr); |
| 73 | + | ||
| 74 | + T_JZsdkReturnCode (*GetFrameSequenceQueueNum)(U8_t *frameSequence); | ||
| 73 | } T_JZsdkOsalHandler; | 75 | } T_JZsdkOsalHandler; |
| 74 | 76 | ||
| 75 | 77 |
| @@ -259,7 +259,7 @@ static void *Main_WorkModeTask(void *arg) | @@ -259,7 +259,7 @@ static void *Main_WorkModeTask(void *arg) | ||
| 259 | * | 259 | * |
| 260 | * | 260 | * |
| 261 | ************************************************************************************************************************************************/ | 261 | ************************************************************************************************************************************************/ |
| 262 | -static T_JZsdkReturnCode DeviceSample_init(int mode) | 262 | +T_JZsdkReturnCode DeviceSample_init(int mode) |
| 263 | { | 263 | { |
| 264 | //a1加载 | 264 | //a1加载 |
| 265 | #if DEVICE_VERSION == JZ_A1 | 265 | #if DEVICE_VERSION == JZ_A1 |
| @@ -322,8 +322,8 @@ static T_JZsdkReturnCode DeviceSample_init(int mode) | @@ -322,8 +322,8 @@ static T_JZsdkReturnCode DeviceSample_init(int mode) | ||
| 322 | #endif | 322 | #endif |
| 323 | 323 | ||
| 324 | //150G加载 | 324 | //150G加载 |
| 325 | - #if DEVICE_VERSION == JZ_H150G | ||
| 326 | - JZ_h150g_init(mode); | 325 | + #if DEVICE_VERSION == JZ_H150A |
| 326 | + JZ_H150A_init(mode); | ||
| 327 | #endif | 327 | #endif |
| 328 | 328 | ||
| 329 | //T40加载 | 329 | //T40加载 |
| @@ -228,16 +228,16 @@ extern "C" { | @@ -228,16 +228,16 @@ extern "C" { | ||
| 228 | #define NET_WORK_TARGET_IPADDR "192.168.5.10" | 228 | #define NET_WORK_TARGET_IPADDR "192.168.5.10" |
| 229 | #define NET_WORK_NETMASK "255.255.255.0" | 229 | #define NET_WORK_NETMASK "255.255.255.0" |
| 230 | 230 | ||
| 231 | -#elif DEVICE_VERSION == JZ_H150G | 231 | +#elif DEVICE_VERSION == JZ_H150A |
| 232 | 232 | ||
| 233 | - #define UART_DEV1_NUM "/dev/ttyS1" | ||
| 234 | - #define UART_DEV1_BITRATE (921600) | 233 | + #define UART_DEV1_NUM "/dev/ttyS2" |
| 234 | + #define UART_DEV1_BITRATE (115200) | ||
| 235 | 235 | ||
| 236 | #define UART_DEV2_NUM NULL | 236 | #define UART_DEV2_NUM NULL |
| 237 | #define UART_DEV2_BITRATE (0) | 237 | #define UART_DEV2_BITRATE (0) |
| 238 | 238 | ||
| 239 | - #define COMM_4G_UART_NUM NULL | ||
| 240 | - #define COMM_4G_UART_BITRATE (0) | 239 | + #define COMM_4G_UART_NUM "/dev/ttyS1" |
| 240 | + #define COMM_4G_UART_BITRATE (115200) | ||
| 241 | 241 | ||
| 242 | #define GIMBAL_UART_NUM NULL | 242 | #define GIMBAL_UART_NUM NULL |
| 243 | #define GIMBAL_UART_BITRATE (0) | 243 | #define GIMBAL_UART_BITRATE (0) |
| @@ -294,6 +294,7 @@ int Main_Device_Wheather_Use(); | @@ -294,6 +294,7 @@ int Main_Device_Wheather_Use(); | ||
| 294 | T_JZsdkReturnCode Main_StartupPriority(int *choose); | 294 | T_JZsdkReturnCode Main_StartupPriority(int *choose); |
| 295 | T_JZsdkReturnCode Main_SetDeviceName(unsigned int Port, int g_DeviceID); | 295 | T_JZsdkReturnCode Main_SetDeviceName(unsigned int Port, int g_DeviceID); |
| 296 | int BaseConfig_GetDeviceInitFlag(); | 296 | int BaseConfig_GetDeviceInitFlag(); |
| 297 | +T_JZsdkReturnCode DeviceSample_init(int mode); | ||
| 297 | 298 | ||
| 298 | #ifdef __cplusplus | 299 | #ifdef __cplusplus |
| 299 | } | 300 | } |
| @@ -19,7 +19,7 @@ | @@ -19,7 +19,7 @@ | ||
| 19 | #include "DeviceSample/JZ_H10_series/JZ_H10T/JZ_h10t.h" | 19 | #include "DeviceSample/JZ_H10_series/JZ_H10T/JZ_h10t.h" |
| 20 | 20 | ||
| 21 | #include "DeviceSample/JZ_H150S_H150T/JZ_h150s_h150t.h" | 21 | #include "DeviceSample/JZ_H150S_H150T/JZ_h150s_h150t.h" |
| 22 | -#include "DeviceSample/JZ_H150G/JZ_h150g.h" | 22 | +#include "DeviceSample/JZ_H150A/JZ_h150a.h" |
| 23 | 23 | ||
| 24 | #include "DeviceSample/JZ_U3_series/JZ_U3/JZ_u3.h" | 24 | #include "DeviceSample/JZ_U3_series/JZ_U3/JZ_u3.h" |
| 25 | #include "DeviceSample/JZ_U3_series/JZ_U3S/JZ_u3s.h" | 25 | #include "DeviceSample/JZ_U3_series/JZ_U3S/JZ_u3s.h" |
| @@ -6,37 +6,76 @@ | @@ -6,37 +6,76 @@ | ||
| 6 | #include "JZsdk_Hal.h" | 6 | #include "JZsdk_Hal.h" |
| 7 | #include "Megaphone/Megaphone.h" | 7 | #include "Megaphone/Megaphone.h" |
| 8 | #include "AudioDeal/AudioDeal.h" | 8 | #include "AudioDeal/AudioDeal.h" |
| 9 | +#include "JZsdk_haldata_deal/JZsdk_data_transmisson.h" | ||
| 10 | + | ||
| 11 | +#include "WarnLight/WarnLight.h" | ||
| 9 | 12 | ||
| 10 | #include "IRCUT/ircut.h" | 13 | #include "IRCUT/ircut.h" |
| 14 | +#include "Hal_Send/HalSend.h" | ||
| 11 | 15 | ||
| 12 | -/**************************** | 16 | +/****************** |
| 13 | * | 17 | * |
| 14 | - * h150g 初始化 | ||
| 15 | - * | ||
| 16 | - * mode psdk为psdk模式 uart为串口模式 | ||
| 17 | * | 18 | * |
| 18 | - * ****************************/ | ||
| 19 | -T_JZsdkReturnCode JZ_h150g_init(int mode) | 19 | + * 引脚初始化 |
| 20 | + * | ||
| 21 | + * *****************/ | ||
| 22 | +T_JZsdkReturnCode JZ_H150A_Ircut_Init() | ||
| 20 | { | 23 | { |
| 21 | - int value[5] = {0}; | ||
| 22 | - | ||
| 23 | //引脚初始化 | 24 | //引脚初始化 |
| 24 | IrcutInfo ircut_info; | 25 | IrcutInfo ircut_info; |
| 25 | ircut_info.Amplifiter_Pin.Enable = JZ_FLAGCODE_ON; | 26 | ircut_info.Amplifiter_Pin.Enable = JZ_FLAGCODE_ON; |
| 26 | - ircut_info.Amplifiter_Pin.Port = JZ_IRC_PORT_PA; | ||
| 27 | - ircut_info.Amplifiter_Pin.index = 17; | 27 | + ircut_info.Amplifiter_Pin.Port = JZ_IRC_PORT_PG; |
| 28 | + ircut_info.Amplifiter_Pin.index = 5; | ||
| 28 | ircut_info.Amplifiter_Pin.Group = 0; | 29 | ircut_info.Amplifiter_Pin.Group = 0; |
| 29 | ircut_info.Amplifiter_Pin.mode = JZ_IRC_PIN_MODE_OUT; | 30 | ircut_info.Amplifiter_Pin.mode = JZ_IRC_PIN_MODE_OUT; |
| 31 | + | ||
| 30 | Ircut_Init(ircut_info); | 32 | Ircut_Init(ircut_info); |
| 33 | +} | ||
| 34 | + | ||
| 35 | +/******************** | ||
| 36 | + * | ||
| 37 | + * | ||
| 38 | + * 基础参数设置 | ||
| 39 | + * | ||
| 40 | + * | ||
| 41 | + * ****************/ | ||
| 42 | +static T_JZsdkReturnCode BaseParamSet(void) | ||
| 43 | +{ | ||
| 44 | + | ||
| 45 | + //设置警灯颜色 | ||
| 46 | + | ||
| 47 | + //设置警灯模式 | ||
| 48 | + | ||
| 49 | + //设置喊话器音量 | ||
| 31 | 50 | ||
| 51 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 52 | +} | ||
| 53 | + | ||
| 54 | +/**************************** | ||
| 55 | + * | ||
| 56 | + * T40 初始化 | ||
| 57 | + * | ||
| 58 | + * mode psdk为psdk模式 uart为串口模式 | ||
| 59 | + * | ||
| 60 | + * ****************************/ | ||
| 61 | +T_JZsdkReturnCode JZ_H150A_init(int mode) | ||
| 62 | +{ | ||
| 63 | + //引脚初始化 | ||
| 64 | + JZ_H150A_Ircut_Init(); | ||
| 65 | + | ||
| 66 | + if (mode == APP_ATTENTION) | ||
| 67 | + { | ||
| 68 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 69 | + } | ||
| 70 | + | ||
| 32 | if (mode == APP_UART) | 71 | if (mode == APP_UART) |
| 33 | { | 72 | { |
| 34 | //串口设备1初始化 | 73 | //串口设备1初始化 |
| 35 | s_JZ_SerialPortHalRegInfo SerialInfo = { | 74 | s_JZ_SerialPortHalRegInfo SerialInfo = { |
| 36 | .BitRate = UART_DEV1_BITRATE, | 75 | .BitRate = UART_DEV1_BITRATE, |
| 37 | .ConnectType = PORT_CONNECT_TYPE_AS_SUB | 76 | .ConnectType = PORT_CONNECT_TYPE_AS_SUB |
| 38 | - }; | ||
| 39 | - | 77 | + }; |
| 78 | + | ||
| 40 | JZsdk_HalPort_Init(UART_DEV_1, (void *)&SerialInfo); | 79 | JZsdk_HalPort_Init(UART_DEV_1, (void *)&SerialInfo); |
| 41 | } | 80 | } |
| 42 | 81 | ||
| @@ -45,10 +84,37 @@ T_JZsdkReturnCode JZ_h150g_init(int mode) | @@ -45,10 +84,37 @@ T_JZsdkReturnCode JZ_h150g_init(int mode) | ||
| 45 | //外接传输模块，用于与飞机的数据通信 | 84 | //外接传输模块，用于与飞机的数据通信 |
| 46 | JZsdk_data_transmisson_Receive_Init(); | 85 | JZsdk_data_transmisson_Receive_Init(); |
| 47 | } | 86 | } |
| 87 | + | ||
| 88 | + //4G串口初始化 | ||
| 89 | + s_JZ_SerialPortHalRegInfo SerialInfo3 = { | ||
| 90 | + .BitRate = COMM_4G_UART_BITRATE, | ||
| 91 | + .ConnectType = PORT_CONNECT_TYPE_AS_MAIN, | ||
| 92 | + }; | ||
| 93 | + JZsdk_HalPort_Init(UART_4G, (void *)&SerialInfo3); | ||
| 48 | 94 | ||
| 49 | //音频库初始化 | 95 | //音频库初始化 |
| 50 | - //AudioDeal_Init(); | 96 | + AudioDeal_Init(); |
| 51 | 97 | ||
| 52 | //喊话器初始化 | 98 | //喊话器初始化 |
| 53 | - //Megaphone_Init(); | 99 | + Megaphone_Init(); |
| 100 | + | ||
| 101 | + //警灯初始化 | ||
| 102 | + T_JzWarnLightInfo WarnLightInfo = { | ||
| 103 | + .Attribute.Color1 = E_JZ_WARNLIGHT_COLOR_RED, | ||
| 104 | + .Attribute.Color2 = E_JZ_WARNLIGHT_COLOR_BLUE, | ||
| 105 | + .Attribute.mode = E_JZ_WARNLIGHT_MODE_SIMULTANEOUS_FAST_FALSHING, | ||
| 106 | + .Attribute.status = JZ_FLAGCODE_OFF, | ||
| 107 | + | ||
| 108 | + .ControlMode = JZ_MODULE_CONTROL_WAY_INDEPENDENT, | ||
| 109 | + .Device = UART_4G, | ||
| 110 | + .FrameSequence = 0x00, | ||
| 111 | + }; | ||
| 112 | + WarnLight_Init(WarnLightInfo); | ||
| 113 | + | ||
| 114 | + //基础参数设置 | ||
| 115 | + BaseParamSet(); | ||
| 116 | + | ||
| 117 | + JZSDK_LOG_INFO("H150A Init Success"); | ||
| 118 | + | ||
| 119 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 54 | } | 120 | } |
| 1 | /** | 1 | /** |
| 2 | ******************************************************************** | 2 | ******************************************************************** |
| 3 | - * @file JZ_h150g.h | ||
| 4 | - * JZ_h150g.h的头文件 | 3 | + * @file JZ_H150A.h |
| 4 | + * JZ_H150A.h的头文件 | ||
| 5 | * | 5 | * |
| 6 | ********************************************************************* | 6 | ********************************************************************* |
| 7 | */ | 7 | */ |
| 8 | 8 | ||
| 9 | /* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/ | 9 | /* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/ |
| 10 | -#ifndef JZ_H150G_H | ||
| 11 | -#define JZ_H150G_H | 10 | +#ifndef JZ_H150A_H |
| 11 | +#define JZ_H150A_H | ||
| 12 | 12 | ||
| 13 | #include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h" | 13 | #include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h" |
| 14 | 14 | ||
| @@ -25,8 +25,7 @@ extern "C" { | @@ -25,8 +25,7 @@ extern "C" { | ||
| 25 | 25 | ||
| 26 | /* Exported types ------------------------------------------------------------*/ | 26 | /* Exported types ------------------------------------------------------------*/ |
| 27 | 27 | ||
| 28 | -T_JZsdkReturnCode JZ_h150g_init(int mode); | ||
| 29 | - | 28 | +T_JZsdkReturnCode JZ_H150A_init(int mode); |
| 30 | 29 | ||
| 31 | #ifdef __cplusplus | 30 | #ifdef __cplusplus |
| 32 | } | 31 | } |
| @@ -8,6 +8,7 @@ | @@ -8,6 +8,7 @@ | ||
| 8 | #include "AudioDeal/AudioDeal.h" | 8 | #include "AudioDeal/AudioDeal.h" |
| 9 | #include "Gimbal/Gimbal.h" | 9 | #include "Gimbal/Gimbal.h" |
| 10 | #include "JZsdk_haldata_deal/JZsdk_data_transmisson.h" | 10 | #include "JZsdk_haldata_deal/JZsdk_data_transmisson.h" |
| 11 | +#include "DeviceInfo/DeviceInfo.h" | ||
| 11 | 12 | ||
| 12 | #include "SearchLight/SearchLight.h" | 13 | #include "SearchLight/SearchLight.h" |
| 13 | #include "WarnLight/WarnLight.h" | 14 | #include "WarnLight/WarnLight.h" |
| @@ -32,7 +33,7 @@ void *JZ_T40_SubConnectTask(void *arg) | @@ -32,7 +33,7 @@ void *JZ_T40_SubConnectTask(void *arg) | ||
| 32 | LeftGimbalConnectFlag == JZ_FLAGCODE_OFF || | 33 | LeftGimbalConnectFlag == JZ_FLAGCODE_OFF || |
| 33 | RightLightConnectFlag == JZ_FLAGCODE_OFF || | 34 | RightLightConnectFlag == JZ_FLAGCODE_OFF || |
| 34 | LeftLightConnectFlag == JZ_FLAGCODE_OFF ) && | 35 | LeftLightConnectFlag == JZ_FLAGCODE_OFF ) && |
| 35 | - DelayTime < 20000) | 36 | + DelayTime <= 20000) |
| 36 | { | 37 | { |
| 37 | s_JZsdk_Hal_Info *HalInfo = JZsdk_Hal_GetHalInfo(); | 38 | s_JZsdk_Hal_Info *HalInfo = JZsdk_Hal_GetHalInfo(); |
| 38 | 39 | ||
| @@ -101,6 +102,26 @@ void *JZ_T40_SubConnectTask(void *arg) | @@ -101,6 +102,26 @@ void *JZ_T40_SubConnectTask(void *arg) | ||
| 101 | } | 102 | } |
| 102 | } | 103 | } |
| 103 | 104 | ||
| 105 | + if (LeftGimbalConnectFlag != JZ_FLAGCODE_ON) | ||
| 106 | + { | ||
| 107 | + JZSDK_LOG_ERROR("LeftGimbalConnectFlag is OFF"); | ||
| 108 | + } | ||
| 109 | + | ||
| 110 | + if (RightGimbalConnectFlag != JZ_FLAGCODE_ON) | ||
| 111 | + { | ||
| 112 | + JZSDK_LOG_ERROR("RightGimbalConnectFlag is OFF"); | ||
| 113 | + } | ||
| 114 | + | ||
| 115 | + if (LeftLightConnectFlag != JZ_FLAGCODE_ON) | ||
| 116 | + { | ||
| 117 | + JZSDK_LOG_ERROR("LeftLightConnectFlag is OFF"); | ||
| 118 | + } | ||
| 119 | + | ||
| 120 | + if (RightLightConnectFlag != JZ_FLAGCODE_ON) | ||
| 121 | + { | ||
| 122 | + JZSDK_LOG_ERROR("RightLightConnectFlag is OFF"); | ||
| 123 | + } | ||
| 124 | + | ||
| 104 | T40_SubConnectFlag = JZ_FLAGCODE_ON; | 125 | T40_SubConnectFlag = JZ_FLAGCODE_ON; |
| 105 | JZSDK_LOG_INFO("T40 SubDevice Connect Success"); | 126 | JZSDK_LOG_INFO("T40 SubDevice Connect Success"); |
| 106 | } | 127 | } |
| @@ -149,7 +170,6 @@ void *JZ_T40_CheckLightTemperatureTask(void *arg) | @@ -149,7 +170,6 @@ void *JZ_T40_CheckLightTemperatureTask(void *arg) | ||
| 149 | delayMs(100); | 170 | delayMs(100); |
| 150 | } | 171 | } |
| 151 | 172 | ||
| 152 | - | ||
| 153 | while (1) | 173 | while (1) |
| 154 | { | 174 | { |
| 155 | //检查左灯温度 | 175 | //检查左灯温度 |
| @@ -203,14 +223,31 @@ static T_JZsdkReturnCode JZ_T40_BaseParamSet(void) | @@ -203,14 +223,31 @@ static T_JZsdkReturnCode JZ_T40_BaseParamSet(void) | ||
| 203 | //设置云台角度 | 223 | //设置云台角度 |
| 204 | 224 | ||
| 205 | //设置喊话器音量 | 225 | //设置喊话器音量 |
| 226 | + | ||
| 206 | 227 | ||
| 228 | + //监测飞机信号，设定为对应的功率值 | ||
| 207 | 229 | ||
| 230 | + E_JZ_SPECIAL_PLANE_INFO g_PlaneInfo; | ||
| 231 | + JZsdk_PlaneInfo_Get(&g_PlaneInfo); | ||
| 208 | 232 | ||
| 209 | - //测试部分 | ||
| 210 | - | ||
| 211 | - //1、将总功率设置为无限制 | ||
| 212 | - HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00); | 233 | + if (g_PlaneInfo == E_JZ_SPECIAL_PLANE_INFO_DJI_M4E) |
| 234 | + { | ||
| 235 | + //将总功率设置为无限制 | ||
| 236 | + HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00); | ||
| 237 | + } | ||
| 238 | + else if (g_PlaneInfo == E_JZ_SPECIAL_PLANE_INFO_DJI_M4TD || g_PlaneInfo == E_JZ_SPECIAL_PLANE_INFO_DJI_M4D) | ||
| 239 | + { | ||
| 240 | + //将总功率设置为31% | ||
| 241 | + //HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x1F, 0x20, 0x00); | ||
| 242 | + HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00); | ||
| 243 | + } | ||
| 244 | + else | ||
| 245 | + { | ||
| 246 | + | ||
| 247 | + HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00); | ||
| 248 | + } | ||
| 213 | 249 | ||
| 250 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 214 | } | 251 | } |
| 215 | 252 | ||
| 216 | /**************************** | 253 | /**************************** |
| @@ -225,6 +262,11 @@ T_JZsdkReturnCode JZ_T40_init(int mode) | @@ -225,6 +262,11 @@ T_JZsdkReturnCode JZ_T40_init(int mode) | ||
| 225 | //引脚初始化 | 262 | //引脚初始化 |
| 226 | JZ_T40_Ircut_Init(); | 263 | JZ_T40_Ircut_Init(); |
| 227 | 264 | ||
| 265 | + if (mode == APP_ATTENTION) | ||
| 266 | + { | ||
| 267 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 268 | + } | ||
| 269 | + | ||
| 228 | if (mode == APP_UART) | 270 | if (mode == APP_UART) |
| 229 | { | 271 | { |
| 230 | //串口设备1初始化 | 272 | //串口设备1初始化 |
| @@ -251,8 +293,11 @@ T_JZsdkReturnCode JZ_T40_init(int mode) | @@ -251,8 +293,11 @@ T_JZsdkReturnCode JZ_T40_init(int mode) | ||
| 251 | JZsdk_HalPort_Init(UART_DEV_2, (void *)&SerialInfo2); | 293 | JZsdk_HalPort_Init(UART_DEV_2, (void *)&SerialInfo2); |
| 252 | 294 | ||
| 253 | //4G初始化 | 295 | //4G初始化 |
| 254 | - // int value[1] = {COMM_4G_UART_BITRATE}; | ||
| 255 | - // JZsdk_HalPort_Init(UART_4G, value); | 296 | + s_JZ_SerialPortHalRegInfo SerialInfo3 = { |
| 297 | + .BitRate = COMM_4G_UART_BITRATE, | ||
| 298 | + .ConnectType = PORT_CONNECT_TYPE_AS_MAIN, | ||
| 299 | + }; | ||
| 300 | + JZsdk_HalPort_Init(UART_4G, (void *)&SerialInfo3); | ||
| 256 | 301 | ||
| 257 | //子设备连接 | 302 | //子设备连接 |
| 258 | JZ_T40_SubDevice_Init(); | 303 | JZ_T40_SubDevice_Init(); |
| @@ -267,10 +312,33 @@ T_JZsdkReturnCode JZ_T40_init(int mode) | @@ -267,10 +312,33 @@ T_JZsdkReturnCode JZ_T40_init(int mode) | ||
| 267 | Gimbal_Init(JZ_MODULE_CONTROL_WAY_INDEPENDENT); | 312 | Gimbal_Init(JZ_MODULE_CONTROL_WAY_INDEPENDENT); |
| 268 | 313 | ||
| 269 | //探照灯初始化 | 314 | //探照灯初始化 |
| 270 | - SearchLight_Init(JZ_MODULE_CONTROL_WAY_INDEPENDENT); | 315 | + T_JzSearchLightInfo SearchLightInfo = { |
| 316 | + .Attribute.Frequency = 100, | ||
| 317 | + .Attribute.Mode = E_JZ_SEARCHLIGHTMODE_OFF, | ||
| 318 | + .Attribute.LeftBrightness = 30, | ||
| 319 | + .Attribute.RightBrightness = 30, | ||
| 320 | + .Attribute.LeftTemperature = 0, | ||
| 321 | + .Attribute.RightTemperature = 0, | ||
| 322 | + | ||
| 323 | + .ControlMode = JZ_MODULE_CONTROL_WAY_INDEPENDENT, | ||
| 324 | + .Device = UART_DEV_2, | ||
| 325 | + .FrameSequence = 0x20, | ||
| 326 | + }; | ||
| 327 | + SearchLight_Init(SearchLightInfo); | ||
| 271 | 328 | ||
| 272 | //警灯初始化 | 329 | //警灯初始化 |
| 273 | - WarnLight_Init(JZ_MODULE_CONTROL_WAY_INDEPENDENT); | 330 | + T_JzWarnLightInfo WarnLightInfo = { |
| 331 | + .Attribute.Color1 = E_JZ_WARNLIGHT_COLOR_RED, | ||
| 332 | + .Attribute.Color2 = E_JZ_WARNLIGHT_COLOR_BLUE, | ||
| 333 | + .Attribute.mode = E_JZ_WARNLIGHT_MODE_SIMULTANEOUS_FAST_FALSHING, | ||
| 334 | + .Attribute.status = JZ_FLAGCODE_OFF, | ||
| 335 | + | ||
| 336 | + .ControlMode = JZ_MODULE_CONTROL_WAY_INDEPENDENT, | ||
| 337 | + .Device = UART_DEV_2, | ||
| 338 | + .FrameSequence = 0x20, | ||
| 339 | + }; | ||
| 340 | + WarnLight_Init(WarnLightInfo); | ||
| 341 | + | ||
| 274 | 342 | ||
| 275 | //激光初始化 | 343 | //激光初始化 |
| 276 | SideLaser_Init(); | 344 | SideLaser_Init(); |
| @@ -7,23 +7,23 @@ | @@ -7,23 +7,23 @@ | ||
| 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_T40 | 10 | +#define DEVICE_VERSION JZ_H150A |
| 11 | 11 | ||
| 12 | //禁止修改行 选择是串口程序 还是 psdk程序 | 12 | //禁止修改行 选择是串口程序 还是 psdk程序 |
| 13 | -#define APP_VERSION APP_PSDK | 13 | +#define APP_VERSION APP_UART |
| 14 | 14 | ||
| 15 | //禁止修改行 板子型号 | 15 | //禁止修改行 板子型号 |
| 16 | #define PLATFORM_VERSION PLATFORM_V3S | 16 | #define PLATFORM_VERSION PLATFORM_V3S |
| 17 | 17 | ||
| 18 | //禁止修改行 串口连接程序的软件版本号 | 18 | //禁止修改行 串口连接程序的软件版本号 |
| 19 | #define MAJOR_VERSION_TEN_POSITION 0 | 19 | #define MAJOR_VERSION_TEN_POSITION 0 |
| 20 | -#define MAJOR_VERSION_ONE_POSITION 1 | 20 | +#define MAJOR_VERSION_ONE_POSITION 0 |
| 21 | #define MINOR_VERSION_TEN_POSITION 0 | 21 | #define MINOR_VERSION_TEN_POSITION 0 |
| 22 | -#define MINOR_VERSION_ONE_POSITION 3 | ||
| 23 | -#define MODIFY_VERSION_TEN_POSITION 1 | 22 | +#define MINOR_VERSION_ONE_POSITION 0 |
| 23 | +#define MODIFY_VERSION_TEN_POSITION 0 | ||
| 24 | #define MODIFY_VERSION_ONE_POSITION 2 | 24 | #define MODIFY_VERSION_ONE_POSITION 2 |
| 25 | -#define DEBUG_VERSION_TEN_POSITION 0 | ||
| 26 | -#define DEBUG_VERSION_ONE_POSITION 0 | 25 | +#define DEBUG_VERSION_TEN_POSITION 2 |
| 26 | +#define DEBUG_VERSION_ONE_POSITION 2 | ||
| 27 | 27 | ||
| 28 | 28 | ||
| 29 | 29 |
| @@ -2899,6 +2899,111 @@ static T_JZsdkReturnCode RecvDeal_Gimbal_PitchFineTuningControl(int Port, char * | @@ -2899,6 +2899,111 @@ static T_JZsdkReturnCode RecvDeal_Gimbal_PitchFineTuningControl(int Port, char * | ||
| 2899 | } | 2899 | } |
| 2900 | 2900 | ||
| 2901 | 2901 | ||
| 2902 | +/********* | ||
| 2903 | + * | ||
| 2904 | + * 云台俯仰补偿 | ||
| 2905 | + * | ||
| 2906 | + * | ||
| 2907 | +**********/ | ||
| 2908 | +static T_JZsdkReturnCode RecvDeal_Gimbal_PitchCompensate(int Port, char *getbuf) | ||
| 2909 | +{ | ||
| 2910 | + T_JZsdkReturnCode ret; | ||
| 2911 | + | ||
| 2912 | + JZSDK_LOG_INFO("%s,云台俯仰补偿",JZsdk_DefineCode_GetPortName(Port)); | ||
| 2913 | + | ||
| 2914 | + //获取帧的序列号 | ||
| 2915 | + int FrameSequence = JZsdk_Get_FrameSequence(getbuf); | ||
| 2916 | + | ||
| 2917 | + //获取模式 | ||
| 2918 | + int mode = getbuf[9]; | ||
| 2919 | + | ||
| 2920 | + //通过云台控制帧 获取云台角度符号 | ||
| 2921 | + int signal = getbuf[10]; | ||
| 2922 | + | ||
| 2923 | + //计算数据长度 | ||
| 2924 | + int dataLen = JZsdk_Get_FrameLength(getbuf) - 9 - 2 - 1 -1; | ||
| 2925 | + | ||
| 2926 | + //计算补偿值 | ||
| 2927 | + int compensate = 0; | ||
| 2928 | + for (int i = 0; i < dataLen; i++) | ||
| 2929 | + { | ||
| 2930 | + compensate += (getbuf[11 + i] << (8 * (dataLen - i - 1))); | ||
| 2931 | + } | ||
| 2932 | + | ||
| 2933 | + //拼接得到补偿值 | ||
| 2934 | + if (signal == 0x00) | ||
| 2935 | + { | ||
| 2936 | + compensate = compensate; | ||
| 2937 | + } | ||
| 2938 | + else if (signal == 0xff) | ||
| 2939 | + { | ||
| 2940 | + compensate = -compensate; | ||
| 2941 | + } | ||
| 2942 | + else | ||
| 2943 | + { | ||
| 2944 | + JZSDK_LOG_INFO("云台俯仰补偿符号错误，无法正常控制"); | ||
| 2945 | + //回复操作失败 | ||
| 2946 | + HalSend_type1Send_Reply_Failure(Port, FrameSequence); | ||
| 2947 | + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; | ||
| 2948 | + } | ||
| 2949 | + | ||
| 2950 | + if (mode == 0x00) | ||
| 2951 | + { | ||
| 2952 | + ret = UIcontrol_Set_GimbalPitchFineTuning(Port ,compensate); | ||
| 2953 | + if (ret == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) | ||
| 2954 | + { | ||
| 2955 | + // 回复操作成功 | ||
| 2956 | + HalSend_type1Send_Reply_Success(Port, FrameSequence); | ||
| 2957 | + } | ||
| 2958 | + else | ||
| 2959 | + { | ||
| 2960 | + // 回复操作失败 | ||
| 2961 | + HalSend_type1Send_Reply_Failure(Port, FrameSequence); | ||
| 2962 | + } | ||
| 2963 | + } | ||
| 2964 | + //左补偿值 | ||
| 2965 | + else if (mode == 0x01) | ||
| 2966 | + { | ||
| 2967 | + ret = UIcontrol_Set_SingleCompensation(Port, 0, compensate); | ||
| 2968 | + if (ret == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) | ||
| 2969 | + { | ||
| 2970 | + // 回复操作成功 | ||
| 2971 | + HalSend_type1Send_Reply_Success(Port, FrameSequence); | ||
| 2972 | + } | ||
| 2973 | + else | ||
| 2974 | + { | ||
| 2975 | + // 回复操作失败 | ||
| 2976 | + HalSend_type1Send_Reply_Failure(Port, FrameSequence); | ||
| 2977 | + } | ||
| 2978 | + } | ||
| 2979 | + //右补偿值 | ||
| 2980 | + else if (mode == 0x02) | ||
| 2981 | + { | ||
| 2982 | + ret = UIcontrol_Set_SingleCompensation(Port, 1, compensate); | ||
| 2983 | + if (ret == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) | ||
| 2984 | + { | ||
| 2985 | + // 回复操作成功 | ||
| 2986 | + HalSend_type1Send_Reply_Success(Port, FrameSequence); | ||
| 2987 | + } | ||
| 2988 | + else | ||
| 2989 | + { | ||
| 2990 | + // 回复操作失败 | ||
| 2991 | + HalSend_type1Send_Reply_Failure(Port, FrameSequence); | ||
| 2992 | + } | ||
| 2993 | + } | ||
| 2994 | + else | ||
| 2995 | + { | ||
| 2996 | + JZSDK_LOG_INFO("云台俯仰补偿模式错误，无法正常控制"); | ||
| 2997 | + //回复操作失败 | ||
| 2998 | + HalSend_type1Send_Reply_Failure(Port, FrameSequence); | ||
| 2999 | + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; | ||
| 3000 | + } | ||
| 3001 | + | ||
| 3002 | + return ret; | ||
| 3003 | +} | ||
| 3004 | + | ||
| 3005 | + | ||
| 3006 | + | ||
| 2902 | /******************************************************************************************************************************* | 3007 | /******************************************************************************************************************************* |
| 2903 | * | 3008 | * |
| 2904 | * 探照灯部分 | 3009 | * 探照灯部分 |
| @@ -3964,8 +4069,8 @@ static T_JZsdkReturnCode RecvDeal_ObtainHeartBeat(int Port, char *getbuf) | @@ -3964,8 +4069,8 @@ static T_JZsdkReturnCode RecvDeal_ObtainHeartBeat(int Port, char *getbuf) | ||
| 3964 | * ******************************/ | 4069 | * ******************************/ |
| 3965 | static T_JZsdkReturnCode RecvDeal_ObtainTimeStamp(int Port, unsigned char *getbuf) | 4070 | static T_JZsdkReturnCode RecvDeal_ObtainTimeStamp(int Port, unsigned char *getbuf) |
| 3966 | { | 4071 | { |
| 3967 | - uint64_t TimeStamp = (getbuf[16] | (getbuf[15] << 8) | ||
| 3968 | - | (getbuf[14] << 16) | (getbuf[13] << 24) | 4072 | + uint64_t TimeStamp = ((uint64_t)getbuf[16] | ((uint64_t)getbuf[15] << 8) |
| 4073 | + | ((uint64_t)getbuf[14] << 16) | ((uint64_t)getbuf[13] << 24) | ||
| 3969 | | ((uint64_t)getbuf[12] << 32) | ((uint64_t)getbuf[11] << 40) | 4074 | | ((uint64_t)getbuf[12] << 32) | ((uint64_t)getbuf[11] << 40) |
| 3970 | | ((uint64_t)getbuf[10] << 48) | ((uint64_t)getbuf[9] << 56)); | 4075 | | ((uint64_t)getbuf[10] << 48) | ((uint64_t)getbuf[9] << 56)); |
| 3971 | 4076 | ||
| @@ -4142,7 +4247,6 @@ static T_JZsdkReturnCode RecvDeal_ObtainSearchLight_Lumen(int Port, char *getbuf | @@ -4142,7 +4247,6 @@ static T_JZsdkReturnCode RecvDeal_ObtainSearchLight_Lumen(int Port, char *getbuf | ||
| 4142 | static T_JZsdkReturnCode RecvDeal_ObtainSearchLight_Temperature(int Port, char *getbuf) | 4247 | static T_JZsdkReturnCode RecvDeal_ObtainSearchLight_Temperature(int Port, char *getbuf) |
| 4143 | { | 4248 | { |
| 4144 | 4249 | ||
| 4145 | - | ||
| 4146 | //获取帧的序列号 | 4250 | //获取帧的序列号 |
| 4147 | int FrameSequence = JZsdk_Get_FrameSequence(getbuf); | 4251 | int FrameSequence = JZsdk_Get_FrameSequence(getbuf); |
| 4148 | 4252 | ||
| @@ -4171,6 +4275,7 @@ static T_JZsdkReturnCode RecvDeal_ObtainSearchLight_Temperature(int Port, char * | @@ -4171,6 +4275,7 @@ static T_JZsdkReturnCode RecvDeal_ObtainSearchLight_Temperature(int Port, char * | ||
| 4171 | UIcontrol_ObtainSearchLight_SingleTemperature(Port, FrameSequence, value); | 4275 | UIcontrol_ObtainSearchLight_SingleTemperature(Port, FrameSequence, value); |
| 4172 | } | 4276 | } |
| 4173 | 4277 | ||
| 4278 | + | ||
| 4174 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | 4279 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; |
| 4175 | } | 4280 | } |
| 4176 | 4281 | ||
| @@ -5196,6 +5301,12 @@ static T_JZsdkReturnCode RecvDeal_InstructInput(int Port, int Receive_mode, unsi | @@ -5196,6 +5301,12 @@ static T_JZsdkReturnCode RecvDeal_InstructInput(int Port, int Receive_mode, unsi | ||
| 5196 | return 0; | 5301 | return 0; |
| 5197 | break; | 5302 | break; |
| 5198 | 5303 | ||
| 5304 | + //云台俯仰补偿 | ||
| 5305 | + case JZ_INSCODE_5AFRAME_GIMBAL_PITCH_COMPENSATE: | ||
| 5306 | + RecvDeal_Gimbal_PitchCompensate(Port,getbuf); | ||
| 5307 | + return 0; | ||
| 5308 | + break; | ||
| 5309 | + | ||
| 5199 | //TTS设置音色 | 5310 | //TTS设置音色 |
| 5200 | case JZ_INSCODE_5AFRAME_TTS_SET_TONE: | 5311 | case JZ_INSCODE_5AFRAME_TTS_SET_TONE: |
| 5201 | RecvDeal_TTS_SetTone(Port,getbuf); | 5312 | RecvDeal_TTS_SetTone(Port,getbuf); |
| @@ -20,8 +20,8 @@ extern "C" { | @@ -20,8 +20,8 @@ extern "C" { | ||
| 20 | 20 | ||
| 21 | /* Exported constants --------------------------------------------------------*/ | 21 | /* Exported constants --------------------------------------------------------*/ |
| 22 | /* 常亮定义*/ | 22 | /* 常亮定义*/ |
| 23 | -#define SINGLE_THREAD_SEND JZSDK_SINGLE_THREAD | ||
| 24 | -#define MULTI_THREAD_SEND JZSDK_MULTI_THREAD | 23 | +#define SINGLE_THREAD_SEND JZSDK_SINGLE_THREAD //单线程发送 |
| 24 | +#define MULTI_THREAD_SEND JZSDK_MULTI_THREAD //线程池发送 | ||
| 25 | 25 | ||
| 26 | /* Exported types ------------------------------------------------------------*/ | 26 | /* Exported types ------------------------------------------------------------*/ |
| 27 | 27 |
| @@ -1683,7 +1683,7 @@ T_JZsdkReturnCode HalSend_type1Send_LaserMode(int Uartport, int frameSequence, i | @@ -1683,7 +1683,7 @@ T_JZsdkReturnCode HalSend_type1Send_LaserMode(int Uartport, int frameSequence, i | ||
| 1683 | * **************/ | 1683 | * **************/ |
| 1684 | T_JZsdkReturnCode HalSend_type1Send_SearchLight_Temperature(int Uartport, int LeftTemperature, int RightTemperature) | 1684 | T_JZsdkReturnCode HalSend_type1Send_SearchLight_Temperature(int Uartport, int LeftTemperature, int RightTemperature) |
| 1685 | { | 1685 | { |
| 1686 | - printf("发送探照灯温度帧\n"); | 1686 | + //printf("发送探照灯温度帧\n"); |
| 1687 | 1687 | ||
| 1688 | unsigned char sendbuf[256]; | 1688 | unsigned char sendbuf[256]; |
| 1689 | int send_buf_len; | 1689 | int send_buf_len; |
| @@ -10,7 +10,7 @@ T_JZsdkReturnCode DebugInfo_Init() | @@ -10,7 +10,7 @@ T_JZsdkReturnCode DebugInfo_Init() | ||
| 10 | { | 10 | { |
| 11 | 11 | ||
| 12 | //强制打开调试模式 | 12 | //强制打开调试模式 |
| 13 | -#if 1 | 13 | +#if 0 |
| 14 | JZsdk_create_file("/root/ShakedownTest"); | 14 | JZsdk_create_file("/root/ShakedownTest"); |
| 15 | 15 | ||
| 16 | DebugMode_Flag = JZ_FLAGCODE_ON; | 16 | DebugMode_Flag = JZ_FLAGCODE_ON; |
| @@ -16,6 +16,7 @@ | @@ -16,6 +16,7 @@ | ||
| 16 | #include "DeviceInfo/Attribute/Attribute.h" | 16 | #include "DeviceInfo/Attribute/Attribute.h" |
| 17 | #include "LanguageInfo/LanguageInfo.h" | 17 | #include "LanguageInfo/LanguageInfo.h" |
| 18 | #include "DebugInfo/DebugInfo.h" | 18 | #include "DebugInfo/DebugInfo.h" |
| 19 | +#include "PlaneInfo/PlaneInfo.h" | ||
| 19 | 20 | ||
| 20 | /* Includes ------------------------------------------------------------------*/ | 21 | /* Includes ------------------------------------------------------------------*/ |
| 21 | #ifdef __cplusplus | 22 | #ifdef __cplusplus |
Module/DeviceInfo/PlaneInfo/PlaneInfo.c
0 → 100644
| 1 | +#include "JZsdkLib.h" | ||
| 2 | + | ||
| 3 | +#include "PlaneInfo.h" | ||
| 4 | + | ||
| 5 | + | ||
| 6 | +static E_JZ_SPECIAL_PLANE_INFO g_PlaneInfo = E_JZ_SPECIAL_PLANE_INFO_NONE; | ||
| 7 | + | ||
| 8 | +T_JZsdkReturnCode JZsdk_PlaneInfo_Set(E_JZ_SPECIAL_PLANE_INFO ePlaneInfo) | ||
| 9 | +{ | ||
| 10 | + JZSDK_LOG_INFO("Set PlaneInfo: %d", ePlaneInfo); | ||
| 11 | + | ||
| 12 | + g_PlaneInfo = ePlaneInfo; | ||
| 13 | + | ||
| 14 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 15 | +} | ||
| 16 | + | ||
| 17 | +T_JZsdkReturnCode JZsdk_PlaneInfo_Get(E_JZ_SPECIAL_PLANE_INFO *pePlaneInfo) | ||
| 18 | +{ | ||
| 19 | + *pePlaneInfo = g_PlaneInfo; | ||
| 20 | + | ||
| 21 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 22 | +} |
Module/DeviceInfo/PlaneInfo/PlaneInfo.h
0 → 100644
| 1 | +/** | ||
| 2 | + ******************************************************************** | ||
| 3 | + * @file PlaneInfo.h | ||
| 4 | + * PlaneInfo.h的头文件 | ||
| 5 | + * | ||
| 6 | + ********************************************************************* | ||
| 7 | + */ | ||
| 8 | + | ||
| 9 | +/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/ | ||
| 10 | +#ifndef PLANE_INFO_H | ||
| 11 | +#define PLANE_INFO_H | ||
| 12 | + | ||
| 13 | +/* Includes ------------------------------------------------------------------*/ | ||
| 14 | +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h" | ||
| 15 | + | ||
| 16 | +#ifdef __cplusplus | ||
| 17 | +extern "C" { | ||
| 18 | +#endif | ||
| 19 | + | ||
| 20 | +/* Exported constants --------------------------------------------------------*/ | ||
| 21 | +/* 常亮定义*/ | ||
| 22 | + | ||
| 23 | +typedef enum E_JZ_SPECIAL_PLANE_INFO | ||
| 24 | +{ | ||
| 25 | + E_JZ_SPECIAL_PLANE_INFO_NONE = 0, //无特殊信息 | ||
| 26 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M200_V2 = 44, /*!< Aircraft type is Matrice 200 V2. */ | ||
| 27 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M210_V2 = 45, /*!< Aircraft type is Matrice 220 V2. */ | ||
| 28 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M210RTK_V2 = 46, /*!< Aircraft type is Matrice 210 RTK V2. */ | ||
| 29 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M300_RTK = 60, /*!< Aircraft type is Matrice 300 RTK. */ | ||
| 30 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M30 = 67, /*!< Aircraft type is Matrice 30. */ | ||
| 31 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M30T = 68, /*!< Aircraft type is Matrice 30T. */ | ||
| 32 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M3E = 77, /*!< Aircraft type is Mavic 3E. */ | ||
| 33 | + E_JZ_SPECIAL_PLANE_INFO_DJI_FC30 = 78, /* !<Aircraft type is FlyCart 30> */ | ||
| 34 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M3T = 79, /*!< Aircraft type is Mavic 3T. */ | ||
| 35 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M350_RTK = 89, /*!< Aircraft type is Matrice 350 RTK. */ | ||
| 36 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M3D = 91, /*!< Aircraft type is Matrice 3D. */ | ||
| 37 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M3TD = 93, /*!< Aircraft type is Matrice 3TD. */ | ||
| 38 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M4T = 99, /*!< Aircraft type is Matrice 4T. */ | ||
| 39 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M4E = 990, /*!< Aircraft type is Matrice 4E. */ | ||
| 40 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M4TD = 100, /*!< Aircraft type is Matrice 4TD. */ | ||
| 41 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M4D = 1000, /*!< Aircraft type is Matrice 4D. */ | ||
| 42 | + E_JZ_SPECIAL_PLANE_INFO_DJI_M400 = 103, /*!< Aircraft type is Matrice 400. */ | ||
| 43 | +}E_JZ_SPECIAL_PLANE_INFO; | ||
| 44 | + | ||
| 45 | +/* Exported types ------------------------------------------------------------*/ | ||
| 46 | + | ||
| 47 | +/* Exported functions --------------------------------------------------------*/ | ||
| 48 | +T_JZsdkReturnCode JZsdk_PlaneInfo_Set(E_JZ_SPECIAL_PLANE_INFO ePlaneInfo); | ||
| 49 | +T_JZsdkReturnCode JZsdk_PlaneInfo_Get(E_JZ_SPECIAL_PLANE_INFO *pePlaneInfo); | ||
| 50 | + | ||
| 51 | +#ifdef __cplusplus | ||
| 52 | +} | ||
| 53 | +#endif | ||
| 54 | + | ||
| 55 | +#endif |
| @@ -37,7 +37,7 @@ T_JZsdkReturnCode Ircut_Init(IrcutInfo ircut_info) | @@ -37,7 +37,7 @@ T_JZsdkReturnCode Ircut_Init(IrcutInfo ircut_info) | ||
| 37 | //初始化对应的引脚 | 37 | //初始化对应的引脚 |
| 38 | if (DEVICE_VERSION == JZ_H1E || DEVICE_VERSION == JZ_H1T || DEVICE_VERSION == JZ_H10T || | 38 | if (DEVICE_VERSION == JZ_H1E || DEVICE_VERSION == JZ_H1T || DEVICE_VERSION == JZ_H10T || |
| 39 | DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30|| | 39 | DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30|| |
| 40 | - DEVICE_VERSION == TF_A1 || DEVICE_VERSION == JZ_T40) | 40 | + DEVICE_VERSION == TF_A1 || DEVICE_VERSION == JZ_T40 || DEVICE_VERSION == JZ_H150A) |
| 41 | { | 41 | { |
| 42 | JZsdk_V3s_Ircut_Init(T_Ircut_info); | 42 | JZsdk_V3s_Ircut_Init(T_Ircut_info); |
| 43 | } | 43 | } |
| @@ -116,7 +116,7 @@ T_JZsdkReturnCode Ircut_PinControl(E_JZ_IRC_PORT port, int index, int status) | @@ -116,7 +116,7 @@ T_JZsdkReturnCode Ircut_PinControl(E_JZ_IRC_PORT port, int index, int status) | ||
| 116 | 116 | ||
| 117 | if (DEVICE_VERSION == JZ_H1E || DEVICE_VERSION == JZ_H1T || DEVICE_VERSION == JZ_H10T || | 117 | if (DEVICE_VERSION == JZ_H1E || DEVICE_VERSION == JZ_H1T || DEVICE_VERSION == JZ_H10T || |
| 118 | DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30|| | 118 | DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30|| |
| 119 | - DEVICE_VERSION == TF_A1 || DEVICE_VERSION == JZ_T40) | 119 | + DEVICE_VERSION == TF_A1 || DEVICE_VERSION == JZ_T40 || DEVICE_VERSION == JZ_H150A) |
| 120 | { | 120 | { |
| 121 | JZsdk_V3s_Gpio_SetPin(port, index, status); | 121 | JZsdk_V3s_Gpio_SetPin(port, index, status); |
| 122 | } | 122 | } |
| @@ -109,16 +109,26 @@ static T_JZsdkReturnCode TTS_FILE_play(struct t_Megaphone_tts_param *Megaphone_t | @@ -109,16 +109,26 @@ static T_JZsdkReturnCode TTS_FILE_play(struct t_Megaphone_tts_param *Megaphone_t | ||
| 109 | //开始合成音频 | 109 | //开始合成音频 |
| 110 | int loop; | 110 | int loop; |
| 111 | int loop_interval; | 111 | int loop_interval; |
| 112 | + int addtone = 0x01; | ||
| 113 | + if (Megaphone_tts_param->tts_add == 1) | ||
| 114 | + { | ||
| 115 | + addtone = 0x01; | ||
| 116 | + } | ||
| 117 | + else if (Megaphone_tts_param->tts_add == 2) | ||
| 118 | + { | ||
| 119 | + addtone = 0x02; | ||
| 120 | + } | ||
| 121 | + | ||
| 112 | do | 122 | do |
| 113 | { | 123 | { |
| 114 | //输入数据 | 124 | //输入数据 |
| 115 | IflyTek_2_Tts_Input(tone, argv, speed, volume); | 125 | IflyTek_2_Tts_Input(tone, argv, speed, volume); |
| 116 | //如果开启了追加模式 | 126 | //如果开启了追加模式 |
| 117 | - // if(tts_add_mode == JZ_FLAGCODE_ON) | ||
| 118 | - // { | ||
| 119 | - // //追加合成音频 | ||
| 120 | - // IflyTek_2_Tts_Input(tone, argv, volume); | ||
| 121 | - // } | 127 | + if(tts_add_mode == JZ_FLAGCODE_ON) |
| 128 | + { | ||
| 129 | + //追加合成音频 | ||
| 130 | + IflyTek_2_Tts_Input(addtone, argv, speed, volume); | ||
| 131 | + } | ||
| 122 | 132 | ||
| 123 | Megaphone_param(JZ_FLAGCODE_GET, MEGAPHONE_LOOP, &loop); | 133 | Megaphone_param(JZ_FLAGCODE_GET, MEGAPHONE_LOOP, &loop); |
| 124 | Megaphone_param(JZ_FLAGCODE_GET, MEGAPHONE_LOOP_INTERVAL, &loop_interval); | 134 | Megaphone_param(JZ_FLAGCODE_GET, MEGAPHONE_LOOP_INTERVAL, &loop_interval); |
| @@ -112,8 +112,7 @@ void OnOutput(AIKIT_HANDLE* handle, const AIKIT_OutputData* output) | @@ -112,8 +112,7 @@ void OnOutput(AIKIT_HANDLE* handle, const AIKIT_OutputData* output) | ||
| 112 | //缓冲区暂无空间，等待一段时间再写入 | 112 | //缓冲区暂无空间，等待一段时间再写入 |
| 113 | usleep(10000); // 10ms | 113 | usleep(10000); // 10ms |
| 114 | continue; | 114 | continue; |
| 115 | - } | ||
| 116 | - | 115 | + } |
| 117 | 116 | ||
| 118 | if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS && ret != JZ_ERROR_SYSTEM_MODULE_CODE_BUFFER_SIZE_NOT_ENOUGH) | 117 | if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS && ret != JZ_ERROR_SYSTEM_MODULE_CODE_BUFFER_SIZE_NOT_ENOUGH) |
| 119 | { | 118 | { |
| @@ -46,6 +46,9 @@ extern "C" { | @@ -46,6 +46,9 @@ extern "C" { | ||
| 46 | #define MAX_VOLUME (61) | 46 | #define MAX_VOLUME (61) |
| 47 | #define MAX_TTS_VOLUME (69) | 47 | #define MAX_TTS_VOLUME (69) |
| 48 | 48 | ||
| 49 | + // #define MAX_VOLUME (100) | ||
| 50 | + // #define MAX_TTS_VOLUME (100) | ||
| 51 | + | ||
| 49 | #elif DEVICE_VERSION == JZ_H10 | 52 | #elif DEVICE_VERSION == JZ_H10 |
| 50 | // #define MAX_VOLUME (65) | 53 | // #define MAX_VOLUME (65) |
| 51 | // #define MAX_TTS_VOLUME (70) | 54 | // #define MAX_TTS_VOLUME (70) |
| @@ -107,6 +110,12 @@ extern "C" { | @@ -107,6 +110,12 @@ extern "C" { | ||
| 107 | #define MAX_VOLUME (63) | 110 | #define MAX_VOLUME (63) |
| 108 | #define MAX_TTS_VOLUME (70) | 111 | #define MAX_TTS_VOLUME (70) |
| 109 | 112 | ||
| 113 | +#elif DEVICE_VERSION == JZ_H150A | ||
| 114 | + // #define MAX_VOLUME (80) | ||
| 115 | + // #define MAX_TTS_VOLUME (75) | ||
| 116 | + | ||
| 117 | + #define MAX_VOLUME (100) | ||
| 118 | + #define MAX_TTS_VOLUME (100) | ||
| 110 | #else | 119 | #else |
| 111 | #define MAX_VOLUME (75) | 120 | #define MAX_VOLUME (75) |
| 112 | #define MAX_TTS_VOLUME (75) | 121 | #define MAX_TTS_VOLUME (75) |
| @@ -35,7 +35,10 @@ T_JZsdkReturnCode Meg_SetVolumeFun(int volume) | @@ -35,7 +35,10 @@ T_JZsdkReturnCode Meg_SetVolumeFun(int volume) | ||
| 35 | { | 35 | { |
| 36 | snprintf(cmdBuffer,128, "amixer set -c 0 Master %d",volume); | 36 | snprintf(cmdBuffer,128, "amixer set -c 0 Master %d",volume); |
| 37 | } | 37 | } |
| 38 | - else if (DEVICE_VERSION == JZ_H10T || DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30 || DEVICE_VERSION == JZ_T40) | 38 | + else if (DEVICE_VERSION == JZ_H10T || DEVICE_VERSION == JZ_U3 || |
| 39 | + DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || | ||
| 40 | + DEVICE_VERSION == JZ_U30 || DEVICE_VERSION == JZ_T40 || | ||
| 41 | + DEVICE_VERSION == JZ_H150A) | ||
| 39 | { | 42 | { |
| 40 | snprintf(cmdBuffer,128, "amixer sset -c 0 'Headphone' %d unmute",volume); | 43 | snprintf(cmdBuffer,128, "amixer sset -c 0 'Headphone' %d unmute",volume); |
| 41 | } | 44 | } |
| @@ -119,7 +122,10 @@ static T_JZsdkReturnCode Megaphone_SetTTSvolume() | @@ -119,7 +122,10 @@ static T_JZsdkReturnCode Megaphone_SetTTSvolume() | ||
| 119 | printf("TTS音量修改\n"); | 122 | printf("TTS音量修改\n"); |
| 120 | 123 | ||
| 121 | //v3s自设系统 要提高10初始音量 | 124 | //v3s自设系统 要提高10初始音量 |
| 122 | - if (DEVICE_VERSION == JZ_H10T || DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30) | 125 | + if (DEVICE_VERSION == JZ_H10T || DEVICE_VERSION == JZ_U3 || |
| 126 | + DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || | ||
| 127 | + DEVICE_VERSION == JZ_U30 || DEVICE_VERSION == JZ_T40 || | ||
| 128 | + DEVICE_VERSION == JZ_H150A) | ||
| 123 | { | 129 | { |
| 124 | if (value > 0) | 130 | if (value > 0) |
| 125 | { | 131 | { |
| @@ -170,7 +176,10 @@ T_JZsdkReturnCode Megaphone_SetVolume(int value, int mode)//设置音é‡ï¼ŒéŸ³é‡ | @@ -170,7 +176,10 @@ T_JZsdkReturnCode Megaphone_SetVolume(int value, int mode)//设置音é‡ï¼ŒéŸ³é‡ | ||
| 170 | g_Megaphone_Volume = value;//获取当前音量 | 176 | g_Megaphone_Volume = value;//获取当前音量 |
| 171 | 177 | ||
| 172 | //v3s自设系统 要提高10初始音量 | 178 | //v3s自设系统 要提高10初始音量 |
| 173 | - if (DEVICE_VERSION == JZ_H10T || DEVICE_VERSION == JZ_U3 || DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30) | 179 | + if (DEVICE_VERSION == JZ_H10T || DEVICE_VERSION == JZ_U3 || |
| 180 | + DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || | ||
| 181 | + DEVICE_VERSION == JZ_U30 || DEVICE_VERSION == JZ_T40 || | ||
| 182 | + DEVICE_VERSION == JZ_H150A) | ||
| 174 | { | 183 | { |
| 175 | if (value > 0) | 184 | if (value > 0) |
| 176 | { | 185 | { |
| @@ -11,38 +11,20 @@ | @@ -11,38 +11,20 @@ | ||
| 11 | static int g_SearchLight_Subscription_Flag = JZ_FLAGCODE_OFF; //消息订阅状态 默认关闭本机的 | 11 | static int g_SearchLight_Subscription_Flag = JZ_FLAGCODE_OFF; //消息订阅状态 默认关闭本机的 |
| 12 | 12 | ||
| 13 | 13 | ||
| 14 | -typedef struct T_JzSearchLightInfo{ | ||
| 15 | - T_JzSearchLightAttribute Attribute; | ||
| 16 | - JZ_MODULE_CONTROL_WAY ControlMode; //控制模式 | ||
| 17 | - | ||
| 18 | -}T_JzSearchLightInfo; | ||
| 19 | 14 | ||
| 20 | static T_JzSearchLightInfo g_SearchLight_Info; | 15 | static T_JzSearchLightInfo g_SearchLight_Info; |
| 21 | 16 | ||
| 22 | 17 | ||
| 23 | -T_JZsdkReturnCode SearchLight_Init(enum JZ_MODULE_CONTROL_WAY Mode) | 18 | +T_JZsdkReturnCode SearchLight_Init(T_JzSearchLightInfo Info) |
| 24 | { | 19 | { |
| 25 | - //温控初始化 | ||
| 26 | - JZsdk_SearchLightTemControl_Init(); | ||
| 27 | - | ||
| 28 | - //初始化参数属性 | ||
| 29 | - static T_JzSearchLightAttribute SearchLight_Attribute = { | ||
| 30 | - .Frequency = 100, | ||
| 31 | - .Mode = E_JZ_SEARCHLIGHTMODE_OFF, | ||
| 32 | - .LeftBrightness = 30, | ||
| 33 | - .RightBrightness = 30, | ||
| 34 | - .LeftTemperature = 0, | ||
| 35 | - .RightTemperature = 0 | ||
| 36 | - }; | ||
| 37 | - | ||
| 38 | - memcpy(&g_SearchLight_Info.Attribute, &SearchLight_Attribute, sizeof(T_JzSearchLightAttribute)); | ||
| 39 | - | ||
| 40 | - //创建一个每隔一段时间就去查询探照灯数据的线程 | ||
| 41 | - T_JZsdkOsalHandler *osal_handle = JZsdk_Platform_GetOsalHandler(); | ||
| 42 | - if (osal_handle == NULL) | 20 | + |
| 21 | + memset(&g_SearchLight_Info, 0, sizeof(T_JzSearchLightInfo)); | ||
| 22 | + memcpy(&g_SearchLight_Info, &Info, sizeof(T_JzSearchLightInfo)); | ||
| 23 | + | ||
| 24 | + if (g_SearchLight_Info.ControlMode == JZ_MODULE_CONTROL_WAY_INDEPENDENT) | ||
| 43 | { | 25 | { |
| 44 | - JZSDK_LOG_ERROR("osal_handle is NULL\n"); | ||
| 45 | - return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; | 26 | + //温控初始化 |
| 27 | + JZsdk_SearchLightTemControl_Init(); | ||
| 46 | } | 28 | } |
| 47 | 29 | ||
| 48 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | 30 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; |
| @@ -73,21 +55,17 @@ T_JZsdkReturnCode SearchLight_CheckStatus_Attribute(T_JzSearchLightAttribute *p) | @@ -73,21 +55,17 @@ T_JZsdkReturnCode SearchLight_CheckStatus_Attribute(T_JzSearchLightAttribute *p) | ||
| 73 | T_JZsdkReturnCode SearchLight_SetMode(E_JzSearchLightMode mode) | 55 | T_JZsdkReturnCode SearchLight_SetMode(E_JzSearchLightMode mode) |
| 74 | { | 56 | { |
| 75 | JZSDK_LOG_DEBUG("探照灯模式改变%d\n", mode); | 57 | JZSDK_LOG_DEBUG("探照灯模式改变%d\n", mode); |
| 76 | -#if (DEVICE_VERSION == JZ_U3 || \ | ||
| 77 | - DEVICE_VERSION == JZ_U3S || \ | ||
| 78 | - DEVICE_VERSION == JZ_U3D || \ | ||
| 79 | - DEVICE_VERSION == JZ_U30 || \ | ||
| 80 | - DEVICE_VERSION == TF_A1) | ||
| 81 | - | ||
| 82 | - HalSend_type1Send_SearchLight_Control(UART_DEV_2, mode, 0x00); | ||
| 83 | - | ||
| 84 | -#elif (DEVICE_VERSION == JZ_T40) | ||
| 85 | - HalSend_type1Send_SearchLight_Control(UART_DEV_2, mode, 0x20); | ||
| 86 | 58 | ||
| 87 | -#elif (DEVICE_VERSION == JZ_H1T) | ||
| 88 | - HalSend_type1Send_SearchLight_Control(UART_DEV_1, mode, 0x20); | 59 | + T_JZsdkOsalHandler *osalHandle = JZsdk_Platform_GetOsalHandler(); |
| 60 | + if (osalHandle == NULL) | ||
| 61 | + { | ||
| 62 | + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; | ||
| 63 | + } | ||
| 64 | + | ||
| 65 | + int FrameSequence = g_SearchLight_Info.FrameSequence; | ||
| 66 | + osalHandle->GetFrameSequenceQueueNum(&FrameSequence); | ||
| 89 | 67 | ||
| 90 | -#endif | 68 | + HalSend_type1Send_SearchLight_Control(g_SearchLight_Info.Device, mode, FrameSequence); |
| 91 | 69 | ||
| 92 | g_SearchLight_Info.Attribute.Mode = mode; | 70 | g_SearchLight_Info.Attribute.Mode = mode; |
| 93 | 71 | ||
| @@ -191,7 +169,7 @@ T_JZsdkReturnCode SearchLight_Obtain_Frequency(int Frequency) | @@ -191,7 +169,7 @@ T_JZsdkReturnCode SearchLight_Obtain_Frequency(int Frequency) | ||
| 191 | //收到探照灯温度 | 169 | //收到探照灯温度 |
| 192 | T_JZsdkReturnCode SearchLight_Obtain_Temperature(int left, int right) | 170 | T_JZsdkReturnCode SearchLight_Obtain_Temperature(int left, int right) |
| 193 | { | 171 | { |
| 194 | - //JZSDK_LOG_DEBUG("%x收到探照灯温度回复%d %d",DEVICE_VERSION, left, right); | 172 | + JZSDK_LOG_DEBUG("%x收到探照灯温度回复%d %d",DEVICE_VERSION, left, right); |
| 195 | 173 | ||
| 196 | g_SearchLight_Info.Attribute.LeftTemperature = left; | 174 | g_SearchLight_Info.Attribute.LeftTemperature = left; |
| 197 | g_SearchLight_Info.Attribute.RightTemperature = right; | 175 | g_SearchLight_Info.Attribute.RightTemperature = right; |
| @@ -255,7 +233,7 @@ T_JZsdkReturnCode SearchLight_Flush_SearchLightTemerature() | @@ -255,7 +233,7 @@ T_JZsdkReturnCode SearchLight_Flush_SearchLightTemerature() | ||
| 255 | { | 233 | { |
| 256 | #if DEVICE_VERSION == JZ_H1T | 234 | #if DEVICE_VERSION == JZ_H1T |
| 257 | 235 | ||
| 258 | - HalSend_type1Send_CheckStatus_SearchLight_Temperture(UART_DEV_1); | 236 | + HalSend_type1Send_CheckStatus_SearchLight_Temperture(UART_DEV_1, 0x00); |
| 259 | #endif | 237 | #endif |
| 260 | } | 238 | } |
| 261 | 239 |
| @@ -26,6 +26,13 @@ typedef struct T_JzSearchLightAttribute{ | @@ -26,6 +26,13 @@ typedef struct T_JzSearchLightAttribute{ | ||
| 26 | int RightTemperature; //右灯光温度 | 26 | int RightTemperature; //右灯光温度 |
| 27 | }T_JzSearchLightAttribute; | 27 | }T_JzSearchLightAttribute; |
| 28 | 28 | ||
| 29 | +typedef struct T_JzSearchLightInfo{ | ||
| 30 | + T_JzSearchLightAttribute Attribute; | ||
| 31 | + JZ_MODULE_CONTROL_WAY ControlMode; //控制模式 | ||
| 32 | + JZ_DEVICE_PORT_TYPE Device; //控制的设备 | ||
| 33 | + int FrameSequence;//是否指定特别的序列号 | ||
| 34 | +}T_JzSearchLightInfo; | ||
| 35 | + | ||
| 29 | typedef enum E_JzSearchLightMode{ | 36 | typedef enum E_JzSearchLightMode{ |
| 30 | E_JZ_SEARCHLIGHTMODE_OFF = 0, //关闭 | 37 | E_JZ_SEARCHLIGHTMODE_OFF = 0, //关闭 |
| 31 | E_JZ_SEARCHLIGHTMODE_BRUST = 1, //爆闪 | 38 | E_JZ_SEARCHLIGHTMODE_BRUST = 1, //爆闪 |
| @@ -51,6 +58,6 @@ T_JZsdkReturnCode SearchLight_Obtain_Mode(E_JzSearchLightMode mode); | @@ -51,6 +58,6 @@ T_JZsdkReturnCode SearchLight_Obtain_Mode(E_JzSearchLightMode mode); | ||
| 51 | T_JZsdkReturnCode JZsdk_SearchLight_SetMessageSubFlag(int InputFlag); | 58 | T_JZsdkReturnCode JZsdk_SearchLight_SetMessageSubFlag(int InputFlag); |
| 52 | int JZsdk_SearchLight_GetMessageSubFlag(void); | 59 | int JZsdk_SearchLight_GetMessageSubFlag(void); |
| 53 | 60 | ||
| 54 | -T_JZsdkReturnCode SearchLight_Init(enum JZ_MODULE_CONTROL_WAY Mode); | 61 | +T_JZsdkReturnCode SearchLight_Init(T_JzSearchLightInfo Info); |
| 55 | 62 | ||
| 56 | #endif | 63 | #endif |
| @@ -425,7 +425,7 @@ T_JZsdkReturnCode JZsdk_PsdkUi_value_get(JZsdk_Widget_Control index, int *value) | @@ -425,7 +425,7 @@ T_JZsdkReturnCode JZsdk_PsdkUi_value_get(JZsdk_Widget_Control index, int *value) | ||
| 425 | 425 | ||
| 426 | if (LanguageInfo == LANGUAGE_INFO_CHINESE) | 426 | if (LanguageInfo == LANGUAGE_INFO_CHINESE) |
| 427 | { | 427 | { |
| 428 | - switch (value) | 428 | + switch (*value) |
| 429 | { | 429 | { |
| 430 | case 0: | 430 | case 0: |
| 431 | tone = 0x01; | 431 | tone = 0x01; |
| @@ -466,7 +466,7 @@ T_JZsdkReturnCode JZsdk_PsdkUi_value_get(JZsdk_Widget_Control index, int *value) | @@ -466,7 +466,7 @@ T_JZsdkReturnCode JZsdk_PsdkUi_value_get(JZsdk_Widget_Control index, int *value) | ||
| 466 | 466 | ||
| 467 | else | 467 | else |
| 468 | { | 468 | { |
| 469 | - switch (value) | 469 | + switch (*value) |
| 470 | { | 470 | { |
| 471 | case 0: | 471 | case 0: |
| 472 | tone = 0x11; | 472 | tone = 0x11; |
| @@ -1004,6 +1004,36 @@ T_JZsdkReturnCode UIcontrol_Set_GimbalPitchFineTuning(int DeviceName,int value) | @@ -1004,6 +1004,36 @@ T_JZsdkReturnCode UIcontrol_Set_GimbalPitchFineTuning(int DeviceName,int value) | ||
| 1004 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | 1004 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; |
| 1005 | } | 1005 | } |
| 1006 | 1006 | ||
| 1007 | +//设置pitch云台补偿值 | ||
| 1008 | +T_JZsdkReturnCode UIcontrol_Set_SingleCompensation(int DeviceName,int direction, int value) | ||
| 1009 | +{ | ||
| 1010 | +#ifdef GIMBAL_STATUS_ON | ||
| 1011 | + | ||
| 1012 | + if(direction == 0) | ||
| 1013 | + { | ||
| 1014 | + T_JZsdkReturnCode ret = Gimbal_Set_SingleCompensation(JZ_SINGLE_COMPENSATION_MODE_PITCH_LEFT, value); | ||
| 1015 | + if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) | ||
| 1016 | + { | ||
| 1017 | + printf("%s:%s\n",UI_CONTROL_ERROR,JZsdk_GetReturnCodeMessage(ret)); | ||
| 1018 | + return ret; | ||
| 1019 | + } | ||
| 1020 | + } | ||
| 1021 | + else if (direction == 1) | ||
| 1022 | + { | ||
| 1023 | + T_JZsdkReturnCode ret = Gimbal_Set_SingleCompensation(JZ_SINGLE_COMPENSATION_MODE_PITCH_RIGHT, value); | ||
| 1024 | + if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) | ||
| 1025 | + { | ||
| 1026 | + printf("%s:%s\n",UI_CONTROL_ERROR,JZsdk_GetReturnCodeMessage(ret)); | ||
| 1027 | + return ret; | ||
| 1028 | + } | ||
| 1029 | + } | ||
| 1030 | +#endif | ||
| 1031 | + return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 1032 | +} | ||
| 1033 | + | ||
| 1034 | + | ||
| 1035 | + | ||
| 1036 | + | ||
| 1007 | //查询云台角度 | 1037 | //查询云台角度 |
| 1008 | T_JZsdkReturnCode UIcontrol_CheckStatus_GimbalAngle(int *PitchValue, int *YawValue) | 1038 | T_JZsdkReturnCode UIcontrol_CheckStatus_GimbalAngle(int *PitchValue, int *YawValue) |
| 1009 | { | 1039 | { |
| @@ -1348,8 +1378,8 @@ T_JZsdkReturnCode UIcontrol_CheckStatus_SearchLightTemperture(int *ValueLeftTemp | @@ -1348,8 +1378,8 @@ T_JZsdkReturnCode UIcontrol_CheckStatus_SearchLightTemperture(int *ValueLeftTemp | ||
| 1348 | //获取探照灯属性 | 1378 | //获取探照灯属性 |
| 1349 | T_JzSearchLightAttribute LightAttribute; | 1379 | T_JzSearchLightAttribute LightAttribute; |
| 1350 | SearchLight_Get_SearchLightAttribute(&LightAttribute); | 1380 | SearchLight_Get_SearchLightAttribute(&LightAttribute); |
| 1351 | - *ValueLeftTemperature = LightAttribute.LeftBrightness; | ||
| 1352 | - *ValueRightTemperaturen = LightAttribute.RightBrightness; | 1381 | + *ValueLeftTemperature = LightAttribute.LeftTemperature; |
| 1382 | + *ValueRightTemperaturen = LightAttribute.RightTemperature; | ||
| 1353 | 1383 | ||
| 1354 | #endif | 1384 | #endif |
| 1355 | 1385 | ||
| @@ -1838,7 +1868,7 @@ T_JZsdkReturnCode UIcontrol_ObtainSearchLight_SingleTemperature(int DeviceName, | @@ -1838,7 +1868,7 @@ T_JZsdkReturnCode UIcontrol_ObtainSearchLight_SingleTemperature(int DeviceName, | ||
| 1838 | T_JzSearchLightAttribute Attribute; | 1868 | T_JzSearchLightAttribute Attribute; |
| 1839 | SearchLight_Get_SearchLightAttribute(&Attribute); | 1869 | SearchLight_Get_SearchLightAttribute(&Attribute); |
| 1840 | 1870 | ||
| 1841 | - if(Brocastflag == JZ_FLAGCODE_ON && FrameSequence == 0x21) | 1871 | + if(Brocastflag == JZ_FLAGCODE_ON) |
| 1842 | { | 1872 | { |
| 1843 | //通知其他设备的ui界面变化 | 1873 | //通知其他设备的ui界面变化 |
| 1844 | //如果4G模块有启动 | 1874 | //如果4G模块有启动 |
| @@ -1857,12 +1887,12 @@ T_JZsdkReturnCode UIcontrol_ObtainSearchLight_SingleTemperature(int DeviceName, | @@ -1857,12 +1887,12 @@ T_JZsdkReturnCode UIcontrol_ObtainSearchLight_SingleTemperature(int DeviceName, | ||
| 1857 | //如果设备2有启动 | 1887 | //如果设备2有启动 |
| 1858 | if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) | 1888 | if ( (JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2) ) |
| 1859 | { | 1889 | { |
| 1860 | - HalSend_type1Send_SearchLight_Temperature(UART_DEV_1, Attribute.LeftTemperature, Attribute.RightTemperature); | 1890 | + HalSend_type1Send_SearchLight_Temperature(UART_DEV_2, Attribute.LeftTemperature, Attribute.RightTemperature); |
| 1861 | } | 1891 | } |
| 1862 | //如果psdk接口已经使用 | 1892 | //如果psdk接口已经使用 |
| 1863 | if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) | 1893 | if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK ) |
| 1864 | { | 1894 | { |
| 1865 | - HalSend_type1Send_SearchLight_Temperature(UART_DEV_1, Attribute.LeftTemperature, Attribute.RightTemperature); | 1895 | + //无反应 |
| 1866 | } | 1896 | } |
| 1867 | } | 1897 | } |
| 1868 | 1898 |
| @@ -65,6 +65,8 @@ T_JZsdkReturnCode UIcontrol_Set_TTS_AppendTone(int DeviceName,int value); | @@ -65,6 +65,8 @@ T_JZsdkReturnCode UIcontrol_Set_TTS_AppendTone(int DeviceName,int value); | ||
| 65 | T_JZsdkReturnCode UIcontrol_Set_GimbalPitchAngle(int DeviceName, int value); | 65 | T_JZsdkReturnCode UIcontrol_Set_GimbalPitchAngle(int DeviceName, int value); |
| 66 | T_JZsdkReturnCode UIcontrol_SetGimbalRange(int DeviceName,int value); | 66 | T_JZsdkReturnCode UIcontrol_SetGimbalRange(int DeviceName,int value); |
| 67 | T_JZsdkReturnCode UIcontrol_Set_GimbalPitchFineTuning(int DeviceName,int value); | 67 | T_JZsdkReturnCode UIcontrol_Set_GimbalPitchFineTuning(int DeviceName,int value); |
| 68 | +T_JZsdkReturnCode UIcontrol_Set_SingleCompensation(int DeviceName,int direction, int value); | ||
| 69 | + | ||
| 68 | T_JZsdkReturnCode UIcontrol_CheckStatus_GimbalPitchFineTuning(int *PitchValue, int *YawValue); | 70 | T_JZsdkReturnCode UIcontrol_CheckStatus_GimbalPitchFineTuning(int *PitchValue, int *YawValue); |
| 69 | T_JZsdkReturnCode UIcontrol_Obtain_GimbalPitchFineTuninng(int DeviceName, int Pitch); | 71 | T_JZsdkReturnCode UIcontrol_Obtain_GimbalPitchFineTuninng(int DeviceName, int Pitch); |
| 70 | T_JZsdkReturnCode UIcontrol_Set_GimbalLinkageControl(int DeviceName, int value); | 72 | T_JZsdkReturnCode UIcontrol_Set_GimbalLinkageControl(int DeviceName, int value); |
| @@ -151,6 +151,14 @@ static int WidgetMgMT_Control_WorkFuntion(int Inscode, int value) | @@ -151,6 +151,14 @@ static int WidgetMgMT_Control_WorkFuntion(int Inscode, int value) | ||
| 151 | case JZSDK_WIDGET_SIDE_LASER_MODE: | 151 | case JZSDK_WIDGET_SIDE_LASER_MODE: |
| 152 | JZsdk_Psdk_UI_io_SideLaserMode(JZ_FLAGCODE_ON, value); | 152 | JZsdk_Psdk_UI_io_SideLaserMode(JZ_FLAGCODE_ON, value); |
| 153 | break; | 153 | break; |
| 154 | + | ||
| 155 | + case JZSDK_WIDGET_GIMBAL_SINGLE_COMPENSATION_LEFT: | ||
| 156 | + UIcontrol_Set_SingleCompensation(JZ_FLAGCODE_ON, 0, value); | ||
| 157 | + break; | ||
| 158 | + | ||
| 159 | + case JZSDK_WIDGET_GIMBAL_SINGLE_COMPENSATION_RIGHT: | ||
| 160 | + UIcontrol_Set_SingleCompensation(JZ_FLAGCODE_ON, 1, value); | ||
| 161 | + break; | ||
| 154 | 162 | ||
| 155 | default: | 163 | default: |
| 156 | break; | 164 | break; |
| @@ -5,26 +5,18 @@ | @@ -5,26 +5,18 @@ | ||
| 5 | #include "WarnLight/WarnLight.h" | 5 | #include "WarnLight/WarnLight.h" |
| 6 | 6 | ||
| 7 | 7 | ||
| 8 | -typedef struct T_JzWarnLightInfo{ | ||
| 9 | - T_JzWarnLightAttribute Attribute; | ||
| 10 | - JZ_MODULE_CONTROL_WAY ControlMode; //控制模式 | ||
| 11 | -}T_JzWarnLightInfo; | ||
| 12 | - | ||
| 13 | static T_JzWarnLightInfo g_WarnLightInfo; | 8 | static T_JzWarnLightInfo g_WarnLightInfo; |
| 14 | 9 | ||
| 15 | -T_JZsdkReturnCode WarnLight_Init(enum JZ_MODULE_CONTROL_WAY Mode) | 10 | +T_JZsdkReturnCode WarnLight_Init(T_JzWarnLightInfo RegInfo) |
| 16 | { | 11 | { |
| 17 | //初始化参数 | 12 | //初始化参数 |
| 18 | - static T_JzWarnLightAttribute Attribute = { | ||
| 19 | - .Color1 = E_JZ_WARNLIGHT_COLOR_RED, | ||
| 20 | - .Color2 = E_JZ_WARNLIGHT_COLOR_BLUE, | ||
| 21 | - .mode = E_JZ_WARNLIGHT_MODE_ALTERATING_FAST_FALSHING, | ||
| 22 | - .status = JZ_FLAGCODE_OFF, | ||
| 23 | - }; | 13 | + memset(&g_WarnLightInfo, 0, sizeof(T_JzWarnLightInfo)); |
| 14 | + memcpy(&g_WarnLightInfo, &RegInfo, sizeof(T_JzWarnLightInfo)); | ||
| 24 | 15 | ||
| 25 | - memcpy(&g_WarnLightInfo.Attribute, &Attribute, sizeof(T_JzWarnLightAttribute)); | 16 | + //打印参数 |
| 17 | + JZSDK_LOG_INFO("WarnLightControlMode:%d",g_WarnLightInfo.ControlMode); | ||
| 26 | 18 | ||
| 27 | - g_WarnLightInfo.ControlMode = Mode; | 19 | + JZSDK_LOG_INFO("WarnLight Init Success"); |
| 28 | 20 | ||
| 29 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | 21 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; |
| 30 | } | 22 | } |
| @@ -33,22 +25,16 @@ T_JZsdkReturnCode WarnLight_Set_StatusAndMode(int status, int mode) | @@ -33,22 +25,16 @@ T_JZsdkReturnCode WarnLight_Set_StatusAndMode(int status, int mode) | ||
| 33 | { | 25 | { |
| 34 | JZSDK_LOG_DEBUG("WarnLight_Set_StatusAndMode: status = %d, mode = %d", status, mode); | 26 | JZSDK_LOG_DEBUG("WarnLight_Set_StatusAndMode: status = %d, mode = %d", status, mode); |
| 35 | 27 | ||
| 36 | -#if DEVICE_VERSION == JZ_H1T | ||
| 37 | - | ||
| 38 | - HalSend_type1Send_Set_WarningLight_Status(UART_DEV_1, 0x00, status, mode); | ||
| 39 | - | ||
| 40 | -#elif DEVICE_VERSION == TF_A1 || \ | ||
| 41 | - DEVICE_VERSION == JZ_U3S || \ | ||
| 42 | - DEVICE_VERSION == JZ_U3D || \ | ||
| 43 | - DEVICE_VERSION == JZ_U30 | 28 | + T_JZsdkOsalHandler *osalHandle = JZsdk_Platform_GetOsalHandler(); |
| 29 | + if (osalHandle == NULL) | ||
| 30 | + { | ||
| 31 | + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; | ||
| 32 | + } | ||
| 44 | 33 | ||
| 45 | - HalSend_type1Send_Set_WarningLight_Status(UART_DEV_2, 0x00, status, mode); | ||
| 46 | - | ||
| 47 | -#elif DEVICE_VERSION == JZ_T40 | 34 | + U8_t FrameSequence = g_WarnLightInfo.FrameSequence; |
| 35 | + osalHandle->GetFrameSequenceQueueNum(&FrameSequence); | ||
| 48 | 36 | ||
| 49 | - HalSend_type1Send_Set_WarningLight_Status(UART_DEV_2, 0x20, status, mode); | ||
| 50 | - | ||
| 51 | -#endif | 37 | + HalSend_type1Send_Set_WarningLight_Status(g_WarnLightInfo.Device, FrameSequence, status, mode); |
| 52 | 38 | ||
| 53 | g_WarnLightInfo.Attribute.mode = mode; | 39 | g_WarnLightInfo.Attribute.mode = mode; |
| 54 | g_WarnLightInfo.Attribute.status = status; | 40 | g_WarnLightInfo.Attribute.status = status; |
| @@ -78,7 +64,7 @@ T_JZsdkReturnCode WarnLight_Flush_StatusAndMode() | @@ -78,7 +64,7 @@ T_JZsdkReturnCode WarnLight_Flush_StatusAndMode() | ||
| 78 | if(g_WarnLightInfo.ControlMode == JZ_MODULE_CONTROL_WAY_TRANSPARENT) | 64 | if(g_WarnLightInfo.ControlMode == JZ_MODULE_CONTROL_WAY_TRANSPARENT) |
| 79 | { | 65 | { |
| 80 | //查询灯光属性 | 66 | //查询灯光属性 |
| 81 | - HalSend_type1Send_CheckStatus_WarningLightStatus(UART_DEV_1); | 67 | + HalSend_type1Send_CheckStatus_WarningLightStatus(g_WarnLightInfo.Device); |
| 82 | } | 68 | } |
| 83 | 69 | ||
| 84 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | 70 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; |
| @@ -91,22 +77,17 @@ T_JZsdkReturnCode WarnLight_Set_Color(int Color1, int Color2) | @@ -91,22 +77,17 @@ T_JZsdkReturnCode WarnLight_Set_Color(int Color1, int Color2) | ||
| 91 | { | 77 | { |
| 92 | JZSDK_LOG_DEBUG("设置0x%x:警灯颜色 Color1:0x%x, color:0x%x",DEVICE_VERSION, Color1, Color2); | 78 | JZSDK_LOG_DEBUG("设置0x%x:警灯颜色 Color1:0x%x, color:0x%x",DEVICE_VERSION, Color1, Color2); |
| 93 | 79 | ||
| 94 | -#if DEVICE_VERSION == JZ_H1T | ||
| 95 | - HalSend_type1Send_Set_WarningLight_Color(UART_DEV_1, 0x00, Color1, Color2); | ||
| 96 | - | ||
| 97 | -#elif DEVICE_VERSION == TF_A1 || \ | ||
| 98 | - DEVICE_VERSION == JZ_U3S || \ | ||
| 99 | - DEVICE_VERSION == JZ_U3D || \ | ||
| 100 | - DEVICE_VERSION == JZ_U30 | ||
| 101 | - | ||
| 102 | - | ||
| 103 | - HalSend_type1Send_Set_WarningLight_Color(UART_DEV_2, 0x00, Color1, Color2); | 80 | + T_JZsdkOsalHandler *osalHandle = JZsdk_Platform_GetOsalHandler(); |
| 81 | + if (osalHandle == NULL) | ||
| 82 | + { | ||
| 83 | + return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; | ||
| 84 | + } | ||
| 104 | 85 | ||
| 105 | -#elif DEVICE_VERSION == JZ_T40 | 86 | + U8_t FrameSequence = g_WarnLightInfo.FrameSequence; |
| 87 | + osalHandle->GetFrameSequenceQueueNum(&FrameSequence); | ||
| 106 | 88 | ||
| 107 | - HalSend_type1Send_Set_WarningLight_Color(UART_DEV_2, 0x20, Color1, Color2); | ||
| 108 | - | ||
| 109 | -#endif | 89 | + //发送警灯颜色 |
| 90 | + HalSend_type1Send_Set_WarningLight_Color(g_WarnLightInfo.Device, FrameSequence, Color1, Color2); | ||
| 110 | 91 | ||
| 111 | g_WarnLightInfo.Attribute.Color1 = Color1; | 92 | g_WarnLightInfo.Attribute.Color1 = Color1; |
| 112 | g_WarnLightInfo.Attribute.Color2 = Color2; | 93 | g_WarnLightInfo.Attribute.Color2 = Color2; |
| @@ -132,7 +113,7 @@ T_JZsdkReturnCode WarnLight_Flush_Color() | @@ -132,7 +113,7 @@ T_JZsdkReturnCode WarnLight_Flush_Color() | ||
| 132 | if(g_WarnLightInfo.ControlMode == JZ_MODULE_CONTROL_WAY_TRANSPARENT) | 113 | if(g_WarnLightInfo.ControlMode == JZ_MODULE_CONTROL_WAY_TRANSPARENT) |
| 133 | { | 114 | { |
| 134 | //查询灯光属性 | 115 | //查询灯光属性 |
| 135 | - HalSend_type1Send_CheckStatus_WarningLightColor(UART_DEV_1); | 116 | + HalSend_type1Send_CheckStatus_WarningLightColor(g_WarnLightInfo.Device); |
| 136 | } | 117 | } |
| 137 | 118 | ||
| 138 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | 119 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; |
| @@ -146,7 +127,7 @@ T_JZsdkReturnCode WarnLight_Get_Attribute(T_JzWarnLightAttribute *Attribute) | @@ -146,7 +127,7 @@ T_JZsdkReturnCode WarnLight_Get_Attribute(T_JzWarnLightAttribute *Attribute) | ||
| 146 | return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; | 127 | return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE; |
| 147 | } | 128 | } |
| 148 | 129 | ||
| 149 | - memcpy(Attribute, &g_WarnLightInfo.Attribute, sizeof(T_JzWarnLightAttribute)); | 130 | + memcpy(Attribute, &(g_WarnLightInfo.Attribute), sizeof(T_JzWarnLightAttribute)); |
| 150 | 131 | ||
| 151 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | 132 | return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS; |
| 152 | } | 133 | } |
| @@ -23,12 +23,20 @@ extern "C" { | @@ -23,12 +23,20 @@ extern "C" { | ||
| 23 | /* Exported types ------------------------------------------------------------*/ | 23 | /* Exported types ------------------------------------------------------------*/ |
| 24 | typedef struct T_JzWarnLightAttribute{ | 24 | typedef struct T_JzWarnLightAttribute{ |
| 25 | int mode; //模式 | 25 | int mode; //模式 |
| 26 | + | ||
| 26 | int status; //状态 | 27 | int status; //状态 |
| 27 | int Color1; //颜色1 | 28 | int Color1; //颜色1 |
| 28 | int Color2; //颜色2 | 29 | int Color2; //颜色2 |
| 29 | }T_JzWarnLightAttribute; | 30 | }T_JzWarnLightAttribute; |
| 30 | 31 | ||
| 31 | 32 | ||
| 33 | +typedef struct T_JzWarnLightInfo{ | ||
| 34 | + T_JzWarnLightAttribute Attribute; | ||
| 35 | + JZ_MODULE_CONTROL_WAY ControlMode; //控制模式 | ||
| 36 | + JZ_DEVICE_PORT_TYPE Device; //控制的设备 | ||
| 37 | + int FrameSequence;//是否指定特别的序列号 | ||
| 38 | +}T_JzWarnLightInfo; | ||
| 39 | + | ||
| 32 | typedef enum E_JzWarnLightColor{ | 40 | typedef enum E_JzWarnLightColor{ |
| 33 | E_JZ_WARNLIGHT_COLOR_RED = 1, | 41 | E_JZ_WARNLIGHT_COLOR_RED = 1, |
| 34 | E_JZ_WARNLIGHT_COLOR_GREEN = 2, | 42 | E_JZ_WARNLIGHT_COLOR_GREEN = 2, |
| @@ -57,7 +65,7 @@ T_JZsdkReturnCode WarnLight_Flush_Color(); | @@ -57,7 +65,7 @@ T_JZsdkReturnCode WarnLight_Flush_Color(); | ||
| 57 | T_JZsdkReturnCode WarnLight_Obatin_StatusAndMode(int status, int mode); | 65 | T_JZsdkReturnCode WarnLight_Obatin_StatusAndMode(int status, int mode); |
| 58 | T_JZsdkReturnCode WarnLight_Obatin_Color(int Color1, int Color2); | 66 | T_JZsdkReturnCode WarnLight_Obatin_Color(int Color1, int Color2); |
| 59 | 67 | ||
| 60 | -T_JZsdkReturnCode WarnLight_Init(enum JZ_MODULE_CONTROL_WAY Mode); | 68 | +T_JZsdkReturnCode WarnLight_Init(T_JzWarnLightInfo RegInfo); |
| 61 | 69 | ||
| 62 | 70 | ||
| 63 | #ifdef __cplusplus | 71 | #ifdef __cplusplus |
| @@ -25,15 +25,8 @@ T_JZsdkReturnCode Megphone_Attention() | @@ -25,15 +25,8 @@ T_JZsdkReturnCode Megphone_Attention() | ||
| 25 | //如果是喊话器设备 | 25 | //如果是喊话器设备 |
| 26 | #ifdef MEGAPHONE_CONFIG_STATUS_ON | 26 | #ifdef MEGAPHONE_CONFIG_STATUS_ON |
| 27 | 27 | ||
| 28 | - //引脚初始化 | ||
| 29 | - IrcutInfo ircut_info; | ||
| 30 | - ircut_info.Amplifiter_Pin.Enable = JZ_FLAGCODE_ON; | ||
| 31 | - ircut_info.Amplifiter_Pin.Port = JZ_IRC_PORT_PG; | ||
| 32 | - ircut_info.Amplifiter_Pin.index = 5; | ||
| 33 | - ircut_info.Amplifiter_Pin.Group = 0; | ||
| 34 | - ircut_info.Amplifiter_Pin.mode = JZ_IRC_PIN_MODE_OUT; | ||
| 35 | - | ||
| 36 | - Ircut_Init(ircut_info); | 28 | + //设备例程初始化 |
| 29 | + DeviceSample_init(APP_ATTENTION); | ||
| 37 | 30 | ||
| 38 | //音频库初始化 | 31 | //音频库初始化 |
| 39 | AudioDeal_Init(); | 32 | AudioDeal_Init(); |
| @@ -28,32 +28,28 @@ The CXX compiler identification is GNU, found in "/mnt/hgfs/share/JZSDK_Linux/pr | @@ -28,32 +28,28 @@ The CXX compiler identification is GNU, found in "/mnt/hgfs/share/JZSDK_Linux/pr | ||
| 28 | Determining if the C compiler works passed with the following output: | 28 | Determining if the C compiler works passed 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:"/usr/bin/make" "cmTC_5dd78/fast" | ||
| 32 | -make: Warning: File 'Makefile' has modification time 0.094 s in the future | ||
| 33 | -/usr/bin/make -f CMakeFiles/cmTC_5dd78.dir/build.make CMakeFiles/cmTC_5dd78.dir/build | 31 | +Run Build Command:"/usr/bin/make" "cmTC_96269/fast" |
| 32 | +/usr/bin/make -f CMakeFiles/cmTC_96269.dir/build.make CMakeFiles/cmTC_96269.dir/build | ||
| 34 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 33 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 35 | -make[1]: Warning: File 'CMakeFiles/cmTC_5dd78.dir/flags.make' has modification time 0.08 s in the future | ||
| 36 | -Building C object CMakeFiles/cmTC_5dd78.dir/testCCompiler.c.o | ||
| 37 | -/usr/bin/cc -o CMakeFiles/cmTC_5dd78.dir/testCCompiler.c.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp/testCCompiler.c | ||
| 38 | -Linking C executable cmTC_5dd78 | ||
| 39 | -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_5dd78.dir/link.txt --verbose=1 | ||
| 40 | -/usr/bin/cc CMakeFiles/cmTC_5dd78.dir/testCCompiler.c.o -o cmTC_5dd78 -rdynamic | ||
| 41 | -make[1]: 警告：检测到时钟错误。您的创建可能是不完整的。 | 34 | +Building C object CMakeFiles/cmTC_96269.dir/testCCompiler.c.o |
| 35 | +/usr/bin/cc -o CMakeFiles/cmTC_96269.dir/testCCompiler.c.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp/testCCompiler.c | ||
| 36 | +Linking C executable cmTC_96269 | ||
| 37 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_96269.dir/link.txt --verbose=1 | ||
| 38 | +/usr/bin/cc CMakeFiles/cmTC_96269.dir/testCCompiler.c.o -o cmTC_96269 -rdynamic | ||
| 42 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 39 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 43 | -make: 警告：检测到时钟错误。您的创建可能是不完整的。 | ||
| 44 | 40 | ||
| 45 | 41 | ||
| 46 | Detecting C compiler ABI info compiled with the following output: | 42 | Detecting C compiler ABI info compiled with the following output: |
| 47 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp | 43 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp |
| 48 | 44 | ||
| 49 | -Run Build Command:"/usr/bin/make" "cmTC_a0142/fast" | ||
| 50 | -/usr/bin/make -f CMakeFiles/cmTC_a0142.dir/build.make CMakeFiles/cmTC_a0142.dir/build | 45 | +Run Build Command:"/usr/bin/make" "cmTC_49efd/fast" |
| 46 | +/usr/bin/make -f CMakeFiles/cmTC_49efd.dir/build.make CMakeFiles/cmTC_49efd.dir/build | ||
| 51 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 47 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 52 | -Building C object CMakeFiles/cmTC_a0142.dir/CMakeCCompilerABI.c.o | ||
| 53 | -/usr/bin/cc -o CMakeFiles/cmTC_a0142.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.5/Modules/CMakeCCompilerABI.c | ||
| 54 | -Linking C executable cmTC_a0142 | ||
| 55 | -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_a0142.dir/link.txt --verbose=1 | ||
| 56 | -/usr/bin/cc -v CMakeFiles/cmTC_a0142.dir/CMakeCCompilerABI.c.o -o cmTC_a0142 -rdynamic | 48 | +Building C object CMakeFiles/cmTC_49efd.dir/CMakeCCompilerABI.c.o |
| 49 | +/usr/bin/cc -o CMakeFiles/cmTC_49efd.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.5/Modules/CMakeCCompilerABI.c | ||
| 50 | +Linking C executable cmTC_49efd | ||
| 51 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_49efd.dir/link.txt --verbose=1 | ||
| 52 | +/usr/bin/cc -v CMakeFiles/cmTC_49efd.dir/CMakeCCompilerABI.c.o -o cmTC_49efd -rdynamic | ||
| 57 | Using built-in specs. | 53 | Using built-in specs. |
| 58 | COLLECT_GCC=/usr/bin/cc | 54 | COLLECT_GCC=/usr/bin/cc |
| 59 | COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper | 55 | COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper |
| @@ -63,8 +59,8 @@ Thread model: posix | @@ -63,8 +59,8 @@ Thread model: posix | ||
| 63 | gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.12) | 59 | gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.12) |
| 64 | 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/ | 60 | 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/ |
| 65 | 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/ | 61 | 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/ |
| 66 | -COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_a0142' '-rdynamic' '-mtune=generic' '-march=x86-64' | ||
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| 63 | + /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/cclcS6gK.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_49efd /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_49efd.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 | ||
| 68 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 64 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 69 | 65 | ||
| 70 | 66 | ||
| @@ -72,14 +68,14 @@ Parsed C implicit link information from above output: | @@ -72,14 +68,14 @@ Parsed C implicit link information from above output: | ||
| 72 | link line regex: [^( *|.*[/\])(ld|([^/\]+-)?ld|collect2)[^/\]*( |$)] | 68 | link line regex: [^( *|.*[/\])(ld|([^/\]+-)?ld|collect2)[^/\]*( |$)] |
| 73 | ignore line: [Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp] | 69 | ignore line: [Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp] |
| 74 | ignore line: [] | 70 | ignore line: [] |
| 75 | - ignore line: [Run Build Command:"/usr/bin/make" "cmTC_a0142/fast"] | ||
| 76 | - ignore line: [/usr/bin/make -f CMakeFiles/cmTC_a0142.dir/build.make CMakeFiles/cmTC_a0142.dir/build] | 71 | + ignore line: [Run Build Command:"/usr/bin/make" "cmTC_49efd/fast"] |
| 72 | + ignore line: [/usr/bin/make -f CMakeFiles/cmTC_49efd.dir/build.make CMakeFiles/cmTC_49efd.dir/build] | ||
| 77 | ignore line: [make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp'] | 73 | ignore line: [make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp'] |
| 78 | - ignore line: [Building C object CMakeFiles/cmTC_a0142.dir/CMakeCCompilerABI.c.o] | ||
| 79 | - ignore line: [/usr/bin/cc -o CMakeFiles/cmTC_a0142.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.5/Modules/CMakeCCompilerABI.c] | ||
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| 81 | - ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_a0142.dir/link.txt --verbose=1] | ||
| 82 | - ignore line: [/usr/bin/cc -v CMakeFiles/cmTC_a0142.dir/CMakeCCompilerABI.c.o -o cmTC_a0142 -rdynamic ] | 74 | + ignore line: [Building C object CMakeFiles/cmTC_49efd.dir/CMakeCCompilerABI.c.o] |
| 75 | + ignore line: [/usr/bin/cc -o CMakeFiles/cmTC_49efd.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.5/Modules/CMakeCCompilerABI.c] | ||
| 76 | + ignore line: [Linking C executable cmTC_49efd] | ||
| 77 | + ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_49efd.dir/link.txt --verbose=1] | ||
| 78 | + ignore line: [/usr/bin/cc -v CMakeFiles/cmTC_49efd.dir/CMakeCCompilerABI.c.o -o cmTC_49efd -rdynamic ] | ||
| 83 | ignore line: [Using built-in specs.] | 79 | ignore line: [Using built-in specs.] |
| 84 | ignore line: [COLLECT_GCC=/usr/bin/cc] | 80 | ignore line: [COLLECT_GCC=/usr/bin/cc] |
| 85 | ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper] | 81 | ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper] |
| @@ -89,13 +85,13 @@ Parsed C implicit link information from above output: | @@ -89,13 +85,13 @@ Parsed C implicit link information from above output: | ||
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| 91 | ignore line: [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/] | 87 | ignore line: [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/] |
| 92 | - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_a0142' '-rdynamic' '-mtune=generic' '-march=x86-64'] | ||
| 93 | - 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/cc8mxu0M.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_a0142 /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_a0142.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] | 88 | + ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_49efd' '-rdynamic' '-mtune=generic' '-march=x86-64'] |
| 89 | + 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/cclcS6gK.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_49efd /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_49efd.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] | ||
| 94 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/collect2] ==> ignore | 90 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/collect2] ==> ignore |
| 95 | arg [-plugin] ==> ignore | 91 | arg [-plugin] ==> ignore |
| 96 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/liblto_plugin.so] ==> ignore | 92 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/liblto_plugin.so] ==> ignore |
| 97 | arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper] ==> ignore | 93 | arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper] ==> ignore |
| 98 | - arg [-plugin-opt=-fresolution=/tmp/cc8mxu0M.res] ==> ignore | 94 | + arg [-plugin-opt=-fresolution=/tmp/cclcS6gK.res] ==> ignore |
| 99 | arg [-plugin-opt=-pass-through=-lgcc] ==> ignore | 95 | arg [-plugin-opt=-pass-through=-lgcc] ==> ignore |
| 100 | arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore | 96 | arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore |
| 101 | arg [-plugin-opt=-pass-through=-lc] ==> ignore | 97 | arg [-plugin-opt=-pass-through=-lc] ==> ignore |
| @@ -113,7 +109,7 @@ Parsed C implicit link information from above output: | @@ -113,7 +109,7 @@ Parsed C implicit link information from above output: | ||
| 113 | arg [/lib64/ld-linux-x86-64.so.2] ==> ignore | 109 | arg [/lib64/ld-linux-x86-64.so.2] ==> ignore |
| 114 | arg [-zrelro] ==> ignore | 110 | arg [-zrelro] ==> ignore |
| 115 | arg [-o] ==> ignore | 111 | arg [-o] ==> ignore |
| 116 | - arg [cmTC_a0142] ==> ignore | 112 | + arg [cmTC_49efd] ==> ignore |
| 117 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o] ==> ignore | 113 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crt1.o] ==> ignore |
| 118 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o] ==> ignore | 114 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/crti.o] ==> ignore |
| 119 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o] ==> ignore | 115 | arg [/usr/lib/gcc/x86_64-linux-gnu/5/crtbegin.o] ==> ignore |
| @@ -125,7 +121,7 @@ Parsed C implicit link information from above output: | @@ -125,7 +121,7 @@ Parsed C implicit link information from above output: | ||
| 125 | arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] | 121 | arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] |
| 126 | arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] | 122 | arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] |
| 127 | arg [-L/usr/lib/gcc/x86_64-linux-gnu/5/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/5/../../..] | 123 | arg [-L/usr/lib/gcc/x86_64-linux-gnu/5/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/5/../../..] |
| 128 | - arg [CMakeFiles/cmTC_a0142.dir/CMakeCCompilerABI.c.o] ==> ignore | 124 | + arg [CMakeFiles/cmTC_49efd.dir/CMakeCCompilerABI.c.o] ==> ignore |
| 129 | arg [-lgcc] ==> lib [gcc] | 125 | arg [-lgcc] ==> lib [gcc] |
| 130 | arg [--as-needed] ==> ignore | 126 | arg [--as-needed] ==> ignore |
| 131 | arg [-lgcc_s] ==> lib [gcc_s] | 127 | arg [-lgcc_s] ==> lib [gcc_s] |
| @@ -159,14 +155,14 @@ Parsed C implicit link information from above output: | @@ -159,14 +155,14 @@ Parsed C implicit link information from above output: | ||
| 159 | Detecting C [-std=c11] compiler features compiled with the following output: | 155 | Detecting C [-std=c11] compiler features compiled with the following output: |
| 160 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp | 156 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp |
| 161 | 157 | ||
| 162 | -Run Build Command:"/usr/bin/make" "cmTC_225dd/fast" | ||
| 163 | -/usr/bin/make -f CMakeFiles/cmTC_225dd.dir/build.make CMakeFiles/cmTC_225dd.dir/build | 158 | +Run Build Command:"/usr/bin/make" "cmTC_599d5/fast" |
| 159 | +/usr/bin/make -f CMakeFiles/cmTC_599d5.dir/build.make CMakeFiles/cmTC_599d5.dir/build | ||
| 164 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 160 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 165 | -Building C object CMakeFiles/cmTC_225dd.dir/feature_tests.c.o | ||
| 166 | -/usr/bin/cc -std=c11 -o CMakeFiles/cmTC_225dd.dir/feature_tests.c.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/feature_tests.c | ||
| 167 | -Linking C executable cmTC_225dd | ||
| 168 | -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_225dd.dir/link.txt --verbose=1 | ||
| 169 | -/usr/bin/cc CMakeFiles/cmTC_225dd.dir/feature_tests.c.o -o cmTC_225dd -rdynamic | 161 | +Building C object CMakeFiles/cmTC_599d5.dir/feature_tests.c.o |
| 162 | +/usr/bin/cc -std=c11 -o CMakeFiles/cmTC_599d5.dir/feature_tests.c.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/feature_tests.c | ||
| 163 | +Linking C executable cmTC_599d5 | ||
| 164 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_599d5.dir/link.txt --verbose=1 | ||
| 165 | +/usr/bin/cc CMakeFiles/cmTC_599d5.dir/feature_tests.c.o -o cmTC_599d5 -rdynamic | ||
| 170 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 166 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 171 | 167 | ||
| 172 | 168 | ||
| @@ -179,14 +175,14 @@ make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_ | @@ -179,14 +175,14 @@ make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_ | ||
| 179 | Detecting C [-std=c99] compiler features compiled with the following output: | 175 | Detecting C [-std=c99] compiler features compiled with the following output: |
| 180 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp | 176 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp |
| 181 | 177 | ||
| 182 | -Run Build Command:"/usr/bin/make" "cmTC_ed5e9/fast" | ||
| 183 | -/usr/bin/make -f CMakeFiles/cmTC_ed5e9.dir/build.make CMakeFiles/cmTC_ed5e9.dir/build | 178 | +Run Build Command:"/usr/bin/make" "cmTC_d3a2f/fast" |
| 179 | +/usr/bin/make -f CMakeFiles/cmTC_d3a2f.dir/build.make CMakeFiles/cmTC_d3a2f.dir/build | ||
| 184 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 180 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 185 | -Building C object CMakeFiles/cmTC_ed5e9.dir/feature_tests.c.o | ||
| 186 | -/usr/bin/cc -std=c99 -o CMakeFiles/cmTC_ed5e9.dir/feature_tests.c.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/feature_tests.c | ||
| 187 | -Linking C executable cmTC_ed5e9 | ||
| 188 | -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_ed5e9.dir/link.txt --verbose=1 | ||
| 189 | -/usr/bin/cc CMakeFiles/cmTC_ed5e9.dir/feature_tests.c.o -o cmTC_ed5e9 -rdynamic | 181 | +Building C object CMakeFiles/cmTC_d3a2f.dir/feature_tests.c.o |
| 182 | +/usr/bin/cc -std=c99 -o CMakeFiles/cmTC_d3a2f.dir/feature_tests.c.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/feature_tests.c | ||
| 183 | +Linking C executable cmTC_d3a2f | ||
| 184 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_d3a2f.dir/link.txt --verbose=1 | ||
| 185 | +/usr/bin/cc CMakeFiles/cmTC_d3a2f.dir/feature_tests.c.o -o cmTC_d3a2f -rdynamic | ||
| 190 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 186 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 191 | 187 | ||
| 192 | 188 | ||
| @@ -199,19 +195,15 @@ make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_ | @@ -199,19 +195,15 @@ make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_ | ||
| 199 | Detecting C [-std=c90] compiler features compiled with the following output: | 195 | Detecting C [-std=c90] compiler features compiled with the following output: |
| 200 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp | 196 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp |
| 201 | 197 | ||
| 202 | -Run Build Command:"/usr/bin/make" "cmTC_157bf/fast" | ||
| 203 | -make: Warning: File 'Makefile' has modification time 0.081 s in the future | ||
| 204 | -/usr/bin/make -f CMakeFiles/cmTC_157bf.dir/build.make CMakeFiles/cmTC_157bf.dir/build | 198 | +Run Build Command:"/usr/bin/make" "cmTC_f41ba/fast" |
| 199 | +/usr/bin/make -f CMakeFiles/cmTC_f41ba.dir/build.make CMakeFiles/cmTC_f41ba.dir/build | ||
| 205 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 200 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 206 | -make[1]: Warning: File 'CMakeFiles/cmTC_157bf.dir/flags.make' has modification time 0.068 s in the future | ||
| 207 | -Building C object CMakeFiles/cmTC_157bf.dir/feature_tests.c.o | ||
| 208 | -/usr/bin/cc -std=c90 -o CMakeFiles/cmTC_157bf.dir/feature_tests.c.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/feature_tests.c | ||
| 209 | -Linking C executable cmTC_157bf | ||
| 210 | -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_157bf.dir/link.txt --verbose=1 | ||
| 211 | -/usr/bin/cc CMakeFiles/cmTC_157bf.dir/feature_tests.c.o -o cmTC_157bf -rdynamic | ||
| 212 | -make[1]: 警告：检测到时钟错误。您的创建可能是不完整的。 | 201 | +Building C object CMakeFiles/cmTC_f41ba.dir/feature_tests.c.o |
| 202 | +/usr/bin/cc -std=c90 -o CMakeFiles/cmTC_f41ba.dir/feature_tests.c.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/feature_tests.c | ||
| 203 | +Linking C executable cmTC_f41ba | ||
| 204 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_f41ba.dir/link.txt --verbose=1 | ||
| 205 | +/usr/bin/cc CMakeFiles/cmTC_f41ba.dir/feature_tests.c.o -o cmTC_f41ba -rdynamic | ||
| 213 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 206 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 214 | -make: 警告：检测到时钟错误。您的创建可能是不完整的。 | ||
| 215 | 207 | ||
| 216 | 208 | ||
| 217 | Feature record: C_FEATURE:1c_function_prototypes | 209 | Feature record: C_FEATURE:1c_function_prototypes |
| @@ -221,28 +213,28 @@ make: 警告：检测到时钟错误。您的创建可能是不完整的。 | @@ -221,28 +213,28 @@ make: 警告：检测到时钟错误。您的创建可能是不完整的。 | ||
| 221 | Determining if the CXX compiler works passed with the following output: | 213 | Determining if the CXX compiler works passed with the following output: |
| 222 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp | 214 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp |
| 223 | 215 | ||
| 224 | -Run Build Command:"/usr/bin/make" "cmTC_11296/fast" | ||
| 225 | -/usr/bin/make -f CMakeFiles/cmTC_11296.dir/build.make CMakeFiles/cmTC_11296.dir/build | 216 | +Run Build Command:"/usr/bin/make" "cmTC_f41e1/fast" |
| 217 | +/usr/bin/make -f CMakeFiles/cmTC_f41e1.dir/build.make CMakeFiles/cmTC_f41e1.dir/build | ||
| 226 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 218 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 227 | -Building CXX object CMakeFiles/cmTC_11296.dir/testCXXCompiler.cxx.o | ||
| 228 | -/usr/bin/c++ -o CMakeFiles/cmTC_11296.dir/testCXXCompiler.cxx.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx | ||
| 229 | -Linking CXX executable cmTC_11296 | ||
| 230 | -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_11296.dir/link.txt --verbose=1 | ||
| 231 | -/usr/bin/c++ CMakeFiles/cmTC_11296.dir/testCXXCompiler.cxx.o -o cmTC_11296 -rdynamic | 219 | +Building CXX object CMakeFiles/cmTC_f41e1.dir/testCXXCompiler.cxx.o |
| 220 | +/usr/bin/c++ -o CMakeFiles/cmTC_f41e1.dir/testCXXCompiler.cxx.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx | ||
| 221 | +Linking CXX executable cmTC_f41e1 | ||
| 222 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_f41e1.dir/link.txt --verbose=1 | ||
| 223 | +/usr/bin/c++ CMakeFiles/cmTC_f41e1.dir/testCXXCompiler.cxx.o -o cmTC_f41e1 -rdynamic | ||
| 232 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 224 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 233 | 225 | ||
| 234 | 226 | ||
| 235 | Detecting CXX compiler ABI info compiled with the following output: | 227 | Detecting CXX compiler ABI info compiled with the following output: |
| 236 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp | 228 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp |
| 237 | 229 | ||
| 238 | -Run Build Command:"/usr/bin/make" "cmTC_716a2/fast" | ||
| 239 | -/usr/bin/make -f CMakeFiles/cmTC_716a2.dir/build.make CMakeFiles/cmTC_716a2.dir/build | 230 | +Run Build Command:"/usr/bin/make" "cmTC_8f2d1/fast" |
| 231 | +/usr/bin/make -f CMakeFiles/cmTC_8f2d1.dir/build.make CMakeFiles/cmTC_8f2d1.dir/build | ||
| 240 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 232 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 241 | -Building CXX object CMakeFiles/cmTC_716a2.dir/CMakeCXXCompilerABI.cpp.o | ||
| 242 | -/usr/bin/c++ -o CMakeFiles/cmTC_716a2.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.5/Modules/CMakeCXXCompilerABI.cpp | ||
| 243 | -Linking CXX executable cmTC_716a2 | ||
| 244 | -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_716a2.dir/link.txt --verbose=1 | ||
| 245 | -/usr/bin/c++ -v CMakeFiles/cmTC_716a2.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_716a2 -rdynamic | 233 | +Building CXX object CMakeFiles/cmTC_8f2d1.dir/CMakeCXXCompilerABI.cpp.o |
| 234 | +/usr/bin/c++ -o CMakeFiles/cmTC_8f2d1.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.5/Modules/CMakeCXXCompilerABI.cpp | ||
| 235 | +Linking CXX executable cmTC_8f2d1 | ||
| 236 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_8f2d1.dir/link.txt --verbose=1 | ||
| 237 | +/usr/bin/c++ -v CMakeFiles/cmTC_8f2d1.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_8f2d1 -rdynamic | ||
| 246 | Using built-in specs. | 238 | Using built-in specs. |
| 247 | COLLECT_GCC=/usr/bin/c++ | 239 | COLLECT_GCC=/usr/bin/c++ |
| 248 | COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper | 240 | COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/5/lto-wrapper |
| @@ -252,8 +244,8 @@ Thread model: posix | @@ -252,8 +244,8 @@ Thread model: posix | ||
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| 281 | - ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_716a2' '-rdynamic' '-shared-libgcc' '-mtune=generic' '-march=x86-64'] | ||
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| @@ -314,7 +306,7 @@ Parsed CXX implicit link information from above output: | @@ -314,7 +306,7 @@ Parsed CXX implicit link information from above output: | ||
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| 347 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp | 339 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp |
| 348 | 340 | ||
| 349 | -Run Build Command:"/usr/bin/make" "cmTC_27bcf/fast" | ||
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| 420 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_2910d.dir/link.txt --verbose=1 | ||
| 421 | +/usr/bin/c++ CMakeFiles/cmTC_2910d.dir/feature_tests.cxx.o -o cmTC_2910d -rdynamic | ||
| 430 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 422 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 431 | 423 | ||
| 432 | 424 | ||
| @@ -492,14 +484,14 @@ make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_ | @@ -492,14 +484,14 @@ make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_ | ||
| 492 | Detecting CXX [-std=c++98] compiler features compiled with the following output: | 484 | Detecting CXX [-std=c++98] compiler features compiled with the following output: |
| 493 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp | 485 | Change Dir: /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp |
| 494 | 486 | ||
| 495 | -Run Build Command:"/usr/bin/make" "cmTC_ef2a5/fast" | ||
| 496 | -/usr/bin/make -f CMakeFiles/cmTC_ef2a5.dir/build.make CMakeFiles/cmTC_ef2a5.dir/build | 487 | +Run Build Command:"/usr/bin/make" "cmTC_7bf51/fast" |
| 488 | +/usr/bin/make -f CMakeFiles/cmTC_7bf51.dir/build.make CMakeFiles/cmTC_7bf51.dir/build | ||
| 497 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 489 | make[1]: Entering directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 498 | -Building CXX object CMakeFiles/cmTC_ef2a5.dir/feature_tests.cxx.o | ||
| 499 | -/usr/bin/c++ -std=c++98 -o CMakeFiles/cmTC_ef2a5.dir/feature_tests.cxx.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/feature_tests.cxx | ||
| 500 | -Linking CXX executable cmTC_ef2a5 | ||
| 501 | -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_ef2a5.dir/link.txt --verbose=1 | ||
| 502 | -/usr/bin/c++ CMakeFiles/cmTC_ef2a5.dir/feature_tests.cxx.o -o cmTC_ef2a5 -rdynamic | 490 | +Building CXX object CMakeFiles/cmTC_7bf51.dir/feature_tests.cxx.o |
| 491 | +/usr/bin/c++ -std=c++98 -o CMakeFiles/cmTC_7bf51.dir/feature_tests.cxx.o -c /mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/feature_tests.cxx | ||
| 492 | +Linking CXX executable cmTC_7bf51 | ||
| 493 | +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_7bf51.dir/link.txt --verbose=1 | ||
| 494 | +/usr/bin/c++ CMakeFiles/cmTC_7bf51.dir/feature_tests.cxx.o -o cmTC_7bf51 -rdynamic | ||
| 503 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' | 495 | make[1]: Leaving directory '/mnt/hgfs/share/JZSDK_Linux/project_build/Attention_提示程序/build/CMakeFiles/CMakeTmp' |
| 504 | 496 | ||
| 505 | 497 |
| @@ -1546,7 +1546,7 @@ bool DjiTest_CameraIsInited(void) | @@ -1546,7 +1546,7 @@ bool DjiTest_CameraIsInited(void) | ||
| 1546 | 1546 | ||
| 1547 | //手动添加 by ookk303 | 1547 | //手动添加 by ookk303 |
| 1548 | // 0空闲中 1录像中 2单拍中 3连拍中 4转码中 | 1548 | // 0空闲中 1录像中 2单拍中 3连拍中 4转码中 |
| 1549 | -int DJI_CamEmu_base_CameraTransLock(int flag) | 1549 | +T_JZsdkReturnCode DJI_CamEmu_base_CameraTransLock(int flag) |
| 1550 | { | 1550 | { |
| 1551 | switch (flag) | 1551 | switch (flag) |
| 1552 | { | 1552 | { |
| @@ -30,6 +30,7 @@ | @@ -30,6 +30,7 @@ | ||
| 30 | /* Includes ------------------------------------------------------------------*/ | 30 | /* Includes ------------------------------------------------------------------*/ |
| 31 | #include "dji_typedef.h" | 31 | #include "dji_typedef.h" |
| 32 | #include "dji_payload_camera.h" | 32 | #include "dji_payload_camera.h" |
| 33 | +#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h" | ||
| 33 | 34 | ||
| 34 | #ifdef __cplusplus | 35 | #ifdef __cplusplus |
| 35 | extern "C" { | 36 | extern "C" { |
| @@ -46,7 +47,7 @@ T_DjiReturnCode DjiTest_CameraGetOpticalZoomFactor(dji_f32_t *factor); | @@ -46,7 +47,7 @@ T_DjiReturnCode DjiTest_CameraGetOpticalZoomFactor(dji_f32_t *factor); | ||
| 46 | T_DjiReturnCode DjiTest_CameraGetMode(E_DjiCameraMode *mode); | 47 | T_DjiReturnCode DjiTest_CameraGetMode(E_DjiCameraMode *mode); |
| 47 | T_DjiReturnCode DjiTest_CameraGetVideoStreamType(E_DjiCameraVideoStreamType *type); | 48 | T_DjiReturnCode DjiTest_CameraGetVideoStreamType(E_DjiCameraVideoStreamType *type); |
| 48 | bool DjiTest_CameraIsInited(void); | 49 | bool DjiTest_CameraIsInited(void); |
| 49 | -int DJI_CamEmu_base_CameraTransLock(int flag); | 50 | +T_JZsdkReturnCode DJI_CamEmu_base_CameraTransLock(int flag); |
| 50 | 51 | ||
| 51 | #ifdef __cplusplus | 52 | #ifdef __cplusplus |
| 52 | } | 53 | } |
| @@ -259,11 +259,6 @@ T_DjiReturnCode DjiTest_WidgetStartService(void) | @@ -259,11 +259,6 @@ T_DjiReturnCode DjiTest_WidgetStartService(void) | ||
| 259 | { | 259 | { |
| 260 | snprintf(curFileDirPath, WIDGET_DIR_PATH_LEN_MAX, "%s/en",WIDGET_FILE_DIR); | 260 | snprintf(curFileDirPath, WIDGET_DIR_PATH_LEN_MAX, "%s/en",WIDGET_FILE_DIR); |
| 261 | } | 261 | } |
| 262 | - // else | ||
| 263 | - // { | ||
| 264 | - // JZSDK_LOG_ERROR("控件加载错误"); | ||
| 265 | - // snprintf(curFileDirPath, WIDGET_DIR_PATH_LEN_MAX, "%s/cn",WIDGET_FILE_DIR); | ||
| 266 | - // } | ||
| 267 | 262 | ||
| 268 | //检查是否存在开启测试的文件 | 263 | //检查是否存在开启测试的文件 |
| 269 | if (JZsdk_check_file_exists("/root/ShakedownTest") == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) | 264 | if (JZsdk_check_file_exists("/root/ShakedownTest") == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS) |
| @@ -692,36 +687,34 @@ static T_JZsdkReturnCode Megphone_Widget(unsigned int index, unsigned int value) | @@ -692,36 +687,34 @@ static T_JZsdkReturnCode Megphone_Widget(unsigned int index, unsigned int value) | ||
| 692 | break; | 687 | break; |
| 693 | } | 688 | } |
| 694 | 689 | ||
| 695 | -#ifdef GIMBAL_STATUS_ON | ||
| 696 | - | ||
| 697 | case 28://设置临时参数 | 690 | case 28://设置临时参数 |
| 698 | { | 691 | { |
| 699 | Temp_GimbalCompensation_Flag = value; | 692 | Temp_GimbalCompensation_Flag = value; |
| 700 | break; | 693 | break; |
| 701 | } | 694 | } |
| 702 | 695 | ||
| 703 | - | ||
| 704 | case 29://设置云台补偿 | 696 | case 29://设置云台补偿 |
| 705 | { | 697 | { |
| 706 | if (Temp_GimbalCompensation_Flag == 0) | 698 | if (Temp_GimbalCompensation_Flag == 0) |
| 707 | { | 699 | { |
| 708 | - Gimbal_Set_SingleCompensation(JZ_SINGLE_COMPENSATION_MODE_PITCH_LEFT, +5); | 700 | + JZSDK_WidgetMgMT_ConrtrolInputTask(JZSDK_WIDGET_GIMBAL_SINGLE_COMPENSATION_LEFT, +5); |
| 709 | } | 701 | } |
| 710 | else if (Temp_GimbalCompensation_Flag == 1) | 702 | else if (Temp_GimbalCompensation_Flag == 1) |
| 711 | { | 703 | { |
| 712 | - Gimbal_Set_SingleCompensation(JZ_SINGLE_COMPENSATION_MODE_PITCH_LEFT, -5); | 704 | + JZSDK_WidgetMgMT_ConrtrolInputTask(JZSDK_WIDGET_GIMBAL_SINGLE_COMPENSATION_LEFT, -5); |
| 713 | } | 705 | } |
| 714 | else if (Temp_GimbalCompensation_Flag == 2) | 706 | else if (Temp_GimbalCompensation_Flag == 2) |
| 715 | { | 707 | { |
| 716 | - Gimbal_Set_SingleCompensation(JZ_SINGLE_COMPENSATION_MODE_PITCH_RIGHT, +5); | 708 | + JZSDK_WidgetMgMT_ConrtrolInputTask(JZSDK_WIDGET_GIMBAL_SINGLE_COMPENSATION_RIGHT, +5); |
| 717 | } | 709 | } |
| 718 | else if (Temp_GimbalCompensation_Flag == 3) | 710 | else if (Temp_GimbalCompensation_Flag == 3) |
| 719 | { | 711 | { |
| 720 | - Gimbal_Set_SingleCompensation(JZ_SINGLE_COMPENSATION_MODE_PITCH_RIGHT, -5); | 712 | + JZSDK_WidgetMgMT_ConrtrolInputTask(JZSDK_WIDGET_GIMBAL_SINGLE_COMPENSATION_RIGHT, -5); |
| 721 | } | 713 | } |
| 722 | break; | 714 | break; |
| 723 | } | 715 | } |
| 724 | 716 | ||
| 717 | +#ifdef GIMBAL_STATUS_ON | ||
| 725 | 718 | ||
| 726 | case 30://设置云台补偿 | 719 | case 30://设置云台补偿 |
| 727 | { | 720 | { |
| @@ -87,8 +87,9 @@ T_DjiReturnCode DjiTest_XPortStartService(void) | @@ -87,8 +87,9 @@ T_DjiReturnCode DjiTest_XPortStartService(void) | ||
| 87 | } | 87 | } |
| 88 | 88 | ||
| 89 | limitAngle.upperLimit = 300; | 89 | limitAngle.upperLimit = 300; |
| 90 | - //limitAngle.lowerLimit = -1000; | ||
| 91 | - limitAngle.lowerLimit = -350; | 90 | + //limitAngle.lowerLimit = -1000; //原本的下限角度 |
| 91 | + //limitAngle.lowerLimit = -350; | ||
| 92 | + limitAngle.lowerLimit = -900; | ||
| 92 | djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle); | 93 | djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle); |
| 93 | if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | 94 | if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { |
| 94 | USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat); | 95 | USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat); |
| @@ -96,8 +97,9 @@ T_DjiReturnCode DjiTest_XPortStartService(void) | @@ -96,8 +97,9 @@ T_DjiReturnCode DjiTest_XPortStartService(void) | ||
| 96 | } | 97 | } |
| 97 | 98 | ||
| 98 | limitAngle.upperLimit = 300; | 99 | limitAngle.upperLimit = 300; |
| 99 | - limitAngle.lowerLimit = -800; | 100 | + //limitAngle.lowerLimit = -800; //原版 |
| 100 | //limitAngle.lowerLimit = -300; | 101 | //limitAngle.lowerLimit = -300; |
| 102 | + limitAngle.lowerLimit = -900; | ||
| 101 | USER_LOG_INFO("Set euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit); | 103 | USER_LOG_INFO("Set euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit); |
| 102 | djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle); | 104 | djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle); |
| 103 | if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | 105 | if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { |
| @@ -120,20 +122,35 @@ T_DjiReturnCode DjiTest_XPortStartService(void) | @@ -120,20 +122,35 @@ T_DjiReturnCode DjiTest_XPortStartService(void) | ||
| 120 | return djiStat; | 122 | return djiStat; |
| 121 | } | 123 | } |
| 122 | 124 | ||
| 125 | + // //航向轴关节角 | ||
| 126 | + // if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1) { | ||
| 127 | + // limitAngle.upperLimit = 300; | ||
| 128 | + // //limitAngle.lowerLimit = -900; | ||
| 129 | + // limitAngle.lowerLimit = -300; | ||
| 130 | + // } else if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2) { | ||
| 131 | + // //limitAngle.upperLimit = 900; | ||
| 132 | + // limitAngle.upperLimit = 300; | ||
| 133 | + // limitAngle.lowerLimit = -300; | ||
| 134 | + // } else if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) { | ||
| 135 | + // // limitAngle.upperLimit = 900; | ||
| 136 | + // // limitAngle.lowerLimit = -900; | ||
| 137 | + // limitAngle.upperLimit = 300; | ||
| 138 | + // limitAngle.lowerLimit = -300; | ||
| 139 | + // } else { | ||
| 140 | + // USER_LOG_WARN("payload mount position is unknown."); | ||
| 141 | + // return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; | ||
| 142 | + // } | ||
| 143 | + | ||
| 123 | //航向轴关节角 | 144 | //航向轴关节角 |
| 124 | if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1) { | 145 | if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1) { |
| 125 | limitAngle.upperLimit = 300; | 146 | limitAngle.upperLimit = 300; |
| 126 | - //limitAngle.lowerLimit = -900; | ||
| 127 | - limitAngle.lowerLimit = -300; | 147 | + limitAngle.lowerLimit = -900; |
| 128 | } else if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2) { | 148 | } else if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2) { |
| 129 | - //limitAngle.upperLimit = 900; | ||
| 130 | - limitAngle.upperLimit = 300; | 149 | + limitAngle.upperLimit = 900; |
| 131 | limitAngle.lowerLimit = -300; | 150 | limitAngle.lowerLimit = -300; |
| 132 | } else if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) { | 151 | } else if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) { |
| 133 | - // limitAngle.upperLimit = 900; | ||
| 134 | - // limitAngle.lowerLimit = -900; | ||
| 135 | - limitAngle.upperLimit = 300; | ||
| 136 | - limitAngle.lowerLimit = -300; | 152 | + limitAngle.upperLimit = 900; |
| 153 | + limitAngle.lowerLimit = -900; | ||
| 137 | } else { | 154 | } else { |
| 138 | USER_LOG_WARN("payload mount position is unknown."); | 155 | USER_LOG_WARN("payload mount position is unknown."); |
| 139 | return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; | 156 | return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; |
project_build/DJI_大疆PSDK/samples/sample_c/module_sample/xport/test_payload_xport.c.bak
已删除
100644 → 0
| 1 | -/** | ||
| 2 | - ******************************************************************** | ||
| 3 | - * @file test_xport.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 | -/* Includes ------------------------------------------------------------------*/ | ||
| 27 | -#include <dji_gimbal.h> | ||
| 28 | -#include "test_payload_xport.h" | ||
| 29 | -#include "dji_logger.h" | ||
| 30 | -#include "dji_platform.h" | ||
| 31 | -#include "utils/util_misc.h" | ||
| 32 | -#include "dji_aircraft_info.h" | ||
| 33 | -#include "camera_emu/test_payload_cam_emu_base.h" | ||
| 34 | - | ||
| 35 | -/* Private constants ---------------------------------------------------------*/ | ||
| 36 | -#define XPORT_TASK_FREQ (10) | ||
| 37 | -#define XPORT_TASK_STACK_SIZE (2048) | ||
| 38 | - | ||
| 39 | -/* Private types -------------------------------------------------------------*/ | ||
| 40 | - | ||
| 41 | - | ||
| 42 | -/* Private functions declaration ---------------------------------------------*/ | ||
| 43 | -static void *UserXPort_Task(void *arg); | ||
| 44 | -static T_DjiReturnCode ReceiveXPortSystemState(T_DjiGimbalSystemState systemState); | ||
| 45 | -static T_DjiReturnCode ReceiveXPortAttitudeInformation(T_DjiGimbalAttitudeInformation attitudeInformation); | ||
| 46 | - | ||
| 47 | -/* Private variables ---------------------------------------------------------*/ | ||
| 48 | -static T_DjiTaskHandle s_userXPortThread; | ||
| 49 | -static T_DjiMutexHandle s_userXPortMutex; | ||
| 50 | -static T_DjiGimbalSystemState s_userXPortSystemState = {0}; | ||
| 51 | -static bool s_isUserXPortInited = false; | ||
| 52 | -static bool s_isUserXPortSystemStateVaild = false; | ||
| 53 | - | ||
| 54 | -/* Exported functions definition ---------------------------------------------*/ | ||
| 55 | -T_DjiReturnCode DjiTest_XPortStartService(void) | ||
| 56 | -{ | ||
| 57 | - T_DjiReturnCode djiStat; | ||
| 58 | - T_DjiXPortLimitAngle limitAngle = {0}; | ||
| 59 | - T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0}; | ||
| 60 | - T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); | ||
| 61 | - | ||
| 62 | - djiStat = DjiXPort_Init(); | ||
| 63 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 64 | - USER_LOG_ERROR("XPort init error: 0x%08llX.", djiStat); | ||
| 65 | - return djiStat; | ||
| 66 | - } | ||
| 67 | - | ||
| 68 | - s_isUserXPortInited = true; | ||
| 69 | - | ||
| 70 | - djiStat = osalHandler->MutexCreate(&s_userXPortMutex); | ||
| 71 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 72 | - USER_LOG_ERROR("user XPort mutex create error: 0x%08llX.", djiStat); | ||
| 73 | - return djiStat; | ||
| 74 | - } | ||
| 75 | - | ||
| 76 | - djiStat = DjiXPort_RegReceiveSystemStateCallback(ReceiveXPortSystemState); | ||
| 77 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 78 | - USER_LOG_ERROR("register receive XPort system state callback function error: 0x%08llX.", djiStat); | ||
| 79 | - return djiStat; | ||
| 80 | - } | ||
| 81 | - | ||
| 82 | - djiStat = DjiXPort_RegReceiveAttitudeInformationCallback(ReceiveXPortAttitudeInformation); | ||
| 83 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 84 | - USER_LOG_ERROR("register receive XPort attitude information callback function error: 0x%08llX.", | ||
| 85 | - djiStat); | ||
| 86 | - return djiStat; | ||
| 87 | - } | ||
| 88 | - | ||
| 89 | - limitAngle.upperLimit = 300; | ||
| 90 | - //limitAngle.lowerLimit = -1000; | ||
| 91 | - limitAngle.lowerLimit = -350; | ||
| 92 | - djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle); | ||
| 93 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 94 | - USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat); | ||
| 95 | - return djiStat; | ||
| 96 | - } | ||
| 97 | - | ||
| 98 | - limitAngle.upperLimit = 300; | ||
| 99 | - limitAngle.lowerLimit = -800; | ||
| 100 | - //limitAngle.lowerLimit = -300; | ||
| 101 | - USER_LOG_INFO("Set euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit); | ||
| 102 | - djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle); | ||
| 103 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 104 | - USER_LOG_ERROR("set pitch euler angle limit angle for XPort error: 0x%08llX.", djiStat); | ||
| 105 | - return djiStat; | ||
| 106 | - } | ||
| 107 | - | ||
| 108 | - limitAngle.upperLimit = 300; | ||
| 109 | - limitAngle.lowerLimit = -1000; | ||
| 110 | - USER_LOG_INFO("Set extended euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit); | ||
| 111 | - djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION, limitAngle); | ||
| 112 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 113 | - USER_LOG_ERROR("set pitch extension euler angle limit angle for XPort error: 0x%08llX.", djiStat); | ||
| 114 | - return djiStat; | ||
| 115 | - } | ||
| 116 | - | ||
| 117 | - djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo); | ||
| 118 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 119 | - USER_LOG_ERROR("get aircraft base information error: 0x%08llX.", djiStat); | ||
| 120 | - return djiStat; | ||
| 121 | - } | ||
| 122 | - | ||
| 123 | - //航向轴关节角 | ||
| 124 | - if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1) { | ||
| 125 | - limitAngle.upperLimit = 300; | ||
| 126 | - //limitAngle.lowerLimit = -900; | ||
| 127 | - limitAngle.lowerLimit = -300; | ||
| 128 | - } else if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2) { | ||
| 129 | - //limitAngle.upperLimit = 900; | ||
| 130 | - limitAngle.upperLimit = 300; | ||
| 131 | - limitAngle.lowerLimit = -300; | ||
| 132 | - } else if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) { | ||
| 133 | - // limitAngle.upperLimit = 900; | ||
| 134 | - // limitAngle.lowerLimit = -900; | ||
| 135 | - limitAngle.upperLimit = 300; | ||
| 136 | - limitAngle.lowerLimit = -300; | ||
| 137 | - } else { | ||
| 138 | - USER_LOG_WARN("payload mount position is unknown."); | ||
| 139 | - return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; | ||
| 140 | - } | ||
| 141 | - | ||
| 142 | - djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE, limitAngle); | ||
| 143 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 144 | - USER_LOG_ERROR("set yaw joint angle limit angle for XPort error: 0x%08llX.", djiStat); | ||
| 145 | - return djiStat; | ||
| 146 | - } | ||
| 147 | - | ||
| 148 | - djiStat = DjiXPort_SetGimbalModeSync(DJI_GIMBAL_MODE_FREE); | ||
| 149 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 150 | - USER_LOG_ERROR("set XPort gimbal mode error: 0x%08llX.", djiStat); | ||
| 151 | - return djiStat; | ||
| 152 | - } | ||
| 153 | - | ||
| 154 | - djiStat = DjiXPort_ResetSync(DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW); | ||
| 155 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 156 | - USER_LOG_ERROR("reset XPort gimbal error: 0x%08llX.", djiStat); | ||
| 157 | - return djiStat; | ||
| 158 | - } | ||
| 159 | - | ||
| 160 | - if (osalHandler->TaskCreate("user_xport_task", UserXPort_Task, XPORT_TASK_STACK_SIZE, NULL, &s_userXPortThread) != | ||
| 161 | - DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 162 | - USER_LOG_ERROR("user XPort task create error."); | ||
| 163 | - return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; | ||
| 164 | - } | ||
| 165 | - | ||
| 166 | - return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 167 | -} | ||
| 168 | - | ||
| 169 | -T_DjiReturnCode DjiTest_XPortDeInit(void) | ||
| 170 | -{ | ||
| 171 | - T_DjiReturnCode djiStat; | ||
| 172 | - T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); | ||
| 173 | - | ||
| 174 | - djiStat = osalHandler->TaskDestroy(s_userXPortThread); | ||
| 175 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 176 | - USER_LOG_ERROR("Destroy test xport thread error: 0x%08llX.", djiStat); | ||
| 177 | - return djiStat; | ||
| 178 | - } | ||
| 179 | - | ||
| 180 | - djiStat = osalHandler->MutexDestroy(s_userXPortMutex); | ||
| 181 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 182 | - USER_LOG_ERROR("Destroy test xport mutex error: 0x%08llX.", djiStat); | ||
| 183 | - return djiStat; | ||
| 184 | - } | ||
| 185 | - | ||
| 186 | - djiStat = DjiXPort_DeInit(); | ||
| 187 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 188 | - USER_LOG_ERROR("XPort de-init error: 0x%08llX.", djiStat); | ||
| 189 | - return djiStat; | ||
| 190 | - } | ||
| 191 | - | ||
| 192 | - s_isUserXPortInited = false; | ||
| 193 | - | ||
| 194 | - return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 195 | -} | ||
| 196 | - | ||
| 197 | -T_DjiReturnCode DjiTest_XPortGetSystemState(T_DjiGimbalSystemState *systemState) | ||
| 198 | -{ | ||
| 199 | - T_DjiReturnCode returnCode; | ||
| 200 | - T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); | ||
| 201 | - | ||
| 202 | - if (s_isUserXPortInited != true || s_isUserXPortSystemStateVaild != true) { | ||
| 203 | - USER_LOG_ERROR("user XPort has not inited."); | ||
| 204 | - return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; | ||
| 205 | - } | ||
| 206 | - | ||
| 207 | - returnCode = osalHandler->MutexLock(s_userXPortMutex); | ||
| 208 | - if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 209 | - USER_LOG_ERROR("user XPort mutex lock error: 0x%08llX.", returnCode); | ||
| 210 | - return returnCode; | ||
| 211 | - } | ||
| 212 | - | ||
| 213 | - memcpy(systemState, &s_userXPortSystemState, sizeof(T_DjiGimbalSystemState)); | ||
| 214 | - | ||
| 215 | - returnCode = osalHandler->MutexUnlock(s_userXPortMutex); | ||
| 216 | - if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 217 | - USER_LOG_ERROR("user XPort mutex unlock error: 0x%08llX.", returnCode); | ||
| 218 | - return returnCode; | ||
| 219 | - } | ||
| 220 | - | ||
| 221 | - return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 222 | -} | ||
| 223 | - | ||
| 224 | -/* Private functions definition-----------------------------------------------*/ | ||
| 225 | -#ifndef __CC_ARM | ||
| 226 | -#pragma GCC diagnostic push | ||
| 227 | -#pragma GCC diagnostic ignored "-Wmissing-noreturn" | ||
| 228 | -#pragma GCC diagnostic ignored "-Wreturn-type" | ||
| 229 | -#endif | ||
| 230 | - | ||
| 231 | -static void *UserXPort_Task(void *arg) | ||
| 232 | -{ | ||
| 233 | - T_DjiReturnCode djiStat; | ||
| 234 | - T_DjiXPortLimitAngle limitAngle = {0}; | ||
| 235 | - float opticalZoomFactor = 1.0f; | ||
| 236 | - float digitalZoomFactor = 1.0f; | ||
| 237 | - int step = 0; | ||
| 238 | - T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); | ||
| 239 | - | ||
| 240 | - USER_UTIL_UNUSED(arg); | ||
| 241 | - | ||
| 242 | - while (1) { | ||
| 243 | - osalHandler->TaskSleepMs(1000 / XPORT_TASK_FREQ); | ||
| 244 | - step++; | ||
| 245 | - | ||
| 246 | - if (USER_UTIL_IS_WORK_TURN(step, 1, XPORT_TASK_FREQ)) { | ||
| 247 | - djiStat = DjiXPort_GetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_ROLL_JOINT_ANGLE, &limitAngle); | ||
| 248 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 249 | - USER_LOG_ERROR("get roll joint angle limit angle from XPort error: 0x%08llX.", djiStat); | ||
| 250 | - continue; | ||
| 251 | - } | ||
| 252 | - | ||
| 253 | - USER_LOG_DEBUG("roll joint angle limit angle of XPort: upper limit %d, lower limit %d.", | ||
| 254 | - limitAngle.upperLimit, limitAngle.lowerLimit); | ||
| 255 | - | ||
| 256 | - djiStat = DjiXPort_GetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, &limitAngle); | ||
| 257 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 258 | - USER_LOG_ERROR("get pitch joint angle limit angle from XPort error: 0x%08llX.", djiStat); | ||
| 259 | - continue; | ||
| 260 | - } | ||
| 261 | - | ||
| 262 | - USER_LOG_DEBUG("pitch joint angle limit angle of XPort: upper limit %d, lower limit %d.", | ||
| 263 | - limitAngle.upperLimit, limitAngle.lowerLimit); | ||
| 264 | - | ||
| 265 | - djiStat = DjiXPort_GetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, &limitAngle); | ||
| 266 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 267 | - USER_LOG_ERROR("get pitch euler angle limit angle from XPort error: 0x%08llX.", djiStat); | ||
| 268 | - continue; | ||
| 269 | - } | ||
| 270 | - | ||
| 271 | - USER_LOG_DEBUG("pitch euler angle limit angle of XPort: upper limit %d, lower limit %d.", | ||
| 272 | - limitAngle.upperLimit, limitAngle.lowerLimit); | ||
| 273 | - | ||
| 274 | - djiStat = DjiXPort_GetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION, | ||
| 275 | - &limitAngle); | ||
| 276 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 277 | - USER_LOG_ERROR("get pitch extension euler angle limit angle from XPort error: 0x%08llX.", | ||
| 278 | - djiStat); | ||
| 279 | - continue; | ||
| 280 | - } | ||
| 281 | - | ||
| 282 | - USER_LOG_DEBUG("pitch extension euler angle limit angle of XPort: upper limit %d, lower limit %d.", | ||
| 283 | - limitAngle.upperLimit, limitAngle.lowerLimit); | ||
| 284 | - | ||
| 285 | - djiStat = DjiXPort_GetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE, &limitAngle); | ||
| 286 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 287 | - USER_LOG_ERROR("get yaw joint angle limit angle from XPort error: 0x%08llX.", djiStat); | ||
| 288 | - continue; | ||
| 289 | - } | ||
| 290 | - | ||
| 291 | - USER_LOG_DEBUG("yaw joint angle limit angle of XPort: upper limit %d, lower limit %d.", | ||
| 292 | - limitAngle.upperLimit, limitAngle.lowerLimit); | ||
| 293 | - } | ||
| 294 | - | ||
| 295 | - if (USER_UTIL_IS_WORK_TURN(step, 10, XPORT_TASK_FREQ)) { | ||
| 296 | - if (DjiTest_CameraIsInited()) { | ||
| 297 | - djiStat = DjiTest_CameraGetOpticalZoomFactor(&opticalZoomFactor); | ||
| 298 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 299 | - USER_LOG_ERROR("get camera optical zoom factor error: %d.", djiStat); | ||
| 300 | - continue; | ||
| 301 | - } | ||
| 302 | - | ||
| 303 | - djiStat = DjiTest_CameraGetDigitalZoomFactor(&digitalZoomFactor); | ||
| 304 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 305 | - USER_LOG_ERROR("get camera digital zoom factor error: %d.", djiStat); | ||
| 306 | - continue; | ||
| 307 | - } | ||
| 308 | - | ||
| 309 | - djiStat = DjiXPort_SetSpeedConversionFactor(1 / (opticalZoomFactor * digitalZoomFactor)); | ||
| 310 | - if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 311 | - USER_LOG_ERROR("set speed conversion factor error: %d.", djiStat); | ||
| 312 | - continue; | ||
| 313 | - } | ||
| 314 | - } | ||
| 315 | - } | ||
| 316 | - } | ||
| 317 | -} | ||
| 318 | - | ||
| 319 | -#ifndef __CC_ARM | ||
| 320 | -#pragma GCC diagnostic pop | ||
| 321 | -#endif | ||
| 322 | - | ||
| 323 | -static T_DjiReturnCode ReceiveXPortSystemState(T_DjiGimbalSystemState systemState) | ||
| 324 | -{ | ||
| 325 | - T_DjiReturnCode returnCode; | ||
| 326 | - T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); | ||
| 327 | - | ||
| 328 | - returnCode = osalHandler->MutexLock(s_userXPortMutex); | ||
| 329 | - if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 330 | - USER_LOG_ERROR("user XPort mutex lock error: 0x%08llX.", returnCode); | ||
| 331 | - return returnCode; | ||
| 332 | - } | ||
| 333 | - | ||
| 334 | - s_isUserXPortSystemStateVaild = true; | ||
| 335 | - memcpy(&s_userXPortSystemState, &systemState, sizeof(T_DjiGimbalSystemState)); | ||
| 336 | - | ||
| 337 | - returnCode = osalHandler->MutexUnlock(s_userXPortMutex); | ||
| 338 | - if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 339 | - USER_LOG_ERROR("user XPort mutex unlock error: 0x%08llX.", returnCode); | ||
| 340 | - return returnCode; | ||
| 341 | - } | ||
| 342 | - | ||
| 343 | - USER_LOG_DEBUG("receive XPort system state: mounted upward flag %d, gimbal mode %d.", | ||
| 344 | - systemState.mountedUpward, systemState.gimbalMode); | ||
| 345 | - | ||
| 346 | - USER_LOG_DEBUG("XPort fine tune: %d %d %d.", systemState.fineTuneAngle.pitch, | ||
| 347 | - systemState.fineTuneAngle.roll, systemState.fineTuneAngle.yaw); | ||
| 348 | - | ||
| 349 | - return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 350 | -} | ||
| 351 | - | ||
| 352 | -static T_DjiReturnCode ReceiveXPortAttitudeInformation(T_DjiGimbalAttitudeInformation attitudeInformation) | ||
| 353 | -{ | ||
| 354 | - USER_LOG_DEBUG("receive XPort attitude information:"); | ||
| 355 | - USER_LOG_DEBUG("XPort attitude: pitch %d, roll %d, yaw %d.", attitudeInformation.attitude.pitch, | ||
| 356 | - attitudeInformation.attitude.roll, attitudeInformation.attitude.yaw); | ||
| 357 | - | ||
| 358 | - return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; | ||
| 359 | -} | ||
| 360 | - | ||
| 361 | -/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/ |
| @@ -69,10 +69,12 @@ extern "C" { | @@ -69,10 +69,12 @@ extern "C" { | ||
| 69 | 69 | ||
| 70 | #if (DEVICE_VERSION == JZ_H1T || DEVICE_VERSION == JZ_H1E || DEVICE_VERSION == JZ_U3|| DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30) | 70 | #if (DEVICE_VERSION == JZ_H1T || DEVICE_VERSION == JZ_H1E || DEVICE_VERSION == JZ_U3|| DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || DEVICE_VERSION == JZ_U30) |
| 71 | #define USER_BAUD_RATE "921600" | 71 | #define USER_BAUD_RATE "921600" |
| 72 | - #elif (DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T || DEVICE_VERSION == JZ_H10 || DEVICE_VERSION == JZ_C1 || DEVICE_VERSION == JZ_ST) | 72 | + #elif (DEVICE_VERSION == JZ_H150S || DEVICE_VERSION == JZ_H150T || DEVICE_VERSION == JZ_H10 || DEVICE_VERSION == JZ_C1 || DEVICE_VERSION == JZ_ST || DEVICE_VERSION == JZ_H150A) |
| 73 | #define USER_BAUD_RATE "230400" | 73 | #define USER_BAUD_RATE "230400" |
| 74 | #elif (DEVICE_VERSION == JZ_H10T) | 74 | #elif (DEVICE_VERSION == JZ_H10T) |
| 75 | #define USER_BAUD_RATE "115200" | 75 | #define USER_BAUD_RATE "115200" |
| 76 | + #else | ||
| 77 | + #define USER_BAUD_RATE "115200" | ||
| 76 | #endif | 78 | #endif |
| 77 | 79 | ||
| 78 | #endif | 80 | #endif |
| @@ -45,8 +45,7 @@ extern "C" { | @@ -45,8 +45,7 @@ extern "C" { | ||
| 45 | * */ | 45 | * */ |
| 46 | 46 | ||
| 47 | #if (DEVICE_VERSION == JZ_H150S) || (DEVICE_VERSION == JZ_H150T) || (DEVICE_VERSION == JZ_C1) || (DEVICE_VERSION == JZ_ST) | 47 | #if (DEVICE_VERSION == JZ_H150S) || (DEVICE_VERSION == JZ_H150T) || (DEVICE_VERSION == JZ_C1) || (DEVICE_VERSION == JZ_ST) |
| 48 | - //#define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE | ||
| 49 | - #define CONFIG_HARDWARE_CONNECTION DJI_USE_ONLY_NETWORK | 48 | + #define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE |
| 50 | #elif (DEVICE_VERSION == JZ_U3 && ALLWINNER_CEDAR == VERSION_SWITCH_ON) | 49 | #elif (DEVICE_VERSION == JZ_U3 && ALLWINNER_CEDAR == VERSION_SWITCH_ON) |
| 51 | #define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE | 50 | #define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE |
| 52 | // #elif (DEVICE_VERSION == JZ_H10 && SPECIAL_VERSION == SPECIAL_H10_M300) | 51 | // #elif (DEVICE_VERSION == JZ_H10 && SPECIAL_VERSION == SPECIAL_H10_M300) |
| @@ -193,6 +193,9 @@ int main(int argc, char *argv[]) | @@ -193,6 +193,9 @@ int main(int argc, char *argv[]) | ||
| 193 | 193 | ||
| 194 | USER_LOG_INFO("DjiAircraftInfo_GetBaseInfo"); | 194 | USER_LOG_INFO("DjiAircraftInfo_GetBaseInfo"); |
| 195 | 195 | ||
| 196 | + //设置飞机信息 | ||
| 197 | + JZsdk_PlaneInfo_Set((E_JZ_SPECIAL_PLANE_INFO)(aircraftInfoBaseInfo.aircraftType)); | ||
| 198 | + | ||
| 196 | //m30和m30t有滤波锁 | 199 | //m30和m30t有滤波锁 |
| 197 | if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) | 200 | if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 || aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) |
| 198 | { | 201 | { |
| @@ -300,6 +303,14 @@ int main(int argc, char *argv[]) | @@ -300,6 +303,14 @@ int main(int argc, char *argv[]) | ||
| 300 | { | 303 | { |
| 301 | memcpy(psdk_name, "U340_OGI", sizeof("U340_OGI")); | 304 | memcpy(psdk_name, "U340_OGI", sizeof("U340_OGI")); |
| 302 | } | 305 | } |
| 306 | + else if (DEVICE_VERSION == JZ_T40) | ||
| 307 | + { | ||
| 308 | + memcpy(psdk_name, "JZ_T40", sizeof("JZ_T40")); | ||
| 309 | + } | ||
| 310 | + else if (DEVICE_VERSION == JZ_H150A) | ||
| 311 | + { | ||
| 312 | + memcpy(psdk_name, "JZ_H150A", sizeof("JZ_H150A")); | ||
| 313 | + } | ||
| 303 | else | 314 | else |
| 304 | { | 315 | { |
| 305 | memcpy(psdk_name, "测试型号", sizeof("测试型号")); | 316 | memcpy(psdk_name, "测试型号", sizeof("测试型号")); |
| @@ -793,6 +804,13 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void) | @@ -793,6 +804,13 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void) | ||
| 793 | return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; | 804 | return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; |
| 794 | } | 805 | } |
| 795 | 806 | ||
| 807 | + //Attention: if you want to use camera stream view function, please uncomment it. | ||
| 808 | + returnCode = DjiPlatform_RegSocketHandler(&socketHandler); | ||
| 809 | + if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 810 | + printf("register osal socket handler error"); | ||
| 811 | + return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; | ||
| 812 | + } | ||
| 813 | + | ||
| 796 | #endif | 814 | #endif |
| 797 | 815 | ||
| 798 | returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler); | 816 | returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler); |
project_build/Zy/README.md
0 → 100644
| 1 | +# Ziyan Payload SDK (PSDK) | ||
| 2 | + | ||
| 3 | + | ||
| 4 | + | ||
| 5 | +## What is the Ziyan Payload SDK? | ||
| 6 | + | ||
| 7 | +The ziyan Payload SDK(PSDK), is a development kit provided by ziyan to support developers to develop payload that can be mounted on ziyan aircraft. developers can obtain the information or other resource from the aircraft. According to the software logic and algorithm framework designed by the developer, users could develop payload that can be mounted on ziyan aircraft, to perform actions they need, such as Automated Flight Controller, Payload Controller, Video Image Analysis Platform, Mapping Camera, Megaphone And Searchlight, etc. | ||
| 8 | + | ||
| 9 | + | ||
| 10 | + | ||
| 11 | +## Latest Release | ||
| 12 | + | ||
| 13 | +The latest release version of PSDK is 1.0.0.0 This version of Payload SDK mainly first release. Please refer to the release notes for detailed changes list. | ||
| 14 | + | ||
| 15 | +## License | ||
| 16 | + | ||
| 17 | +Payload SDK codebase is MIT-licensed. Please refer to the LICENSE file for detailed information. |
project_build/Zy/ReleaseNotes.md
0 → 100644
| 1 | +# Ziyan Payload SDK Release Log | ||
| 2 | + | ||
| 3 | +## V1.1.1.0-20250721-Release | ||
| 4 | +**[Note]**: | ||
| 5 | +* Refactored the camera range finder handler and separated it into an independent interface. | ||
| 6 | +* Introduced a new camera API to support the camera tracker. | ||
| 7 | +* Resolved several known issues. | ||
| 8 | + | ||
| 9 | +**[Added]**: | ||
| 10 | +* Added support for the camera tracker feature. Introduced new APIs for controlling the camera tracker integrated with the payload camera, and exposed additional tracking status feedback data. | ||
| 11 | +* Separated the camera range finder into a dedicated interface to improve modularity. | ||
| 12 | + | ||
| 13 | +**[Optimized]**: | ||
| 14 | +* Optimized the video streaming transmission mechanism for improved efficiency and stability. | ||
| 15 | +* Enhanced core task monitoring by periodically reporting tasks with abnormal execution time, ensuring stable and reliable system behavior. | ||
| 16 | + | ||
| 17 | +**[Fixed]**: | ||
| 18 | +* Fixed an issue where the widget module ignored items with an index greater than 256. | ||
| 19 | +---- | ||
| 20 | + | ||
| 21 | + | ||
| 22 | + | ||
| 23 | + | ||
| 24 | +## V1.1.0.0-20250620-Release | ||
| 25 | +**[Note]**: | ||
| 26 | +* Introduced a new self-checking mechanism. | ||
| 27 | +* Fixed several known issues. | ||
| 28 | + | ||
| 29 | +**[Added]**: | ||
| 30 | +* Added support for the self-checking mechanism. Users will now be prompted to update their PSPK version in the event of communication or version mismatches. | ||
| 31 | +* Added support for the I2C communication protocol. | ||
| 32 | + | ||
| 33 | +**[Optimized]**: | ||
| 34 | +* Optimized the widget configuration file loading method. UAVs can now load configuration files dynamically. | ||
| 35 | +* Optimized the speaker module to improve real-time speaker and TTS (text-to-speech) transmission logic. | ||
| 36 | +* Refined the core initialization logic. | ||
| 37 | + | ||
| 38 | +**[Fixed]**: | ||
| 39 | +* Fixed an issue where the widget module occasionally failed to load the configuration file, causing the Ziyan app to not display payload widget information. | ||
| 40 | +* Fixed an issue where log timestamps were displayed abnormally. | ||
| 41 | +--- | ||
| 42 | + | ||
| 43 | + | ||
| 44 | + | ||
| 45 | + | ||
| 46 | +## V1.0.0.4-20250603-Release | ||
| 47 | +**[Note]**: | ||
| 48 | +* Added new module. | ||
| 49 | +* Fixed some known issues. | ||
| 50 | + | ||
| 51 | +**[Added]**: | ||
| 52 | +* Add support for the speaker module. | ||
| 53 | + | ||
| 54 | +**[Optimized]**: | ||
| 55 | +* Optimize the core initialization process and provide more log information to support developers in quickly identifying the cause of exceptions during the adaptation process. | ||
| 56 | + | ||
| 57 | +**[Fixed]**: | ||
| 58 | +* Fix issues that may cause abnormal program termination in specific communication scenarios. | ||
| 59 | +* Fix the issue of strong coupling between the sample program and the system environment | ||
| 60 | +--- | ||
| 61 | + | ||
| 62 | + | ||
| 63 | + | ||
| 64 | + | ||
| 65 | +## V1.0.0.3-20250429-Release | ||
| 66 | +**[Note]**: | ||
| 67 | +To support more camera expansion features, Add new camera API. Fixed some known issues. | ||
| 68 | + | ||
| 69 | +**[Added]**: | ||
| 70 | +* Adjust the feedback frequency of the camera status, support the remote control to refresh data at a higher frequency, and ensure real-time display. | ||
| 71 | +* Add diverse debugging options | ||
| 72 | + | ||
| 73 | +**[Fixed]**: | ||
| 74 | +* Fix the dependency of the sample program and run the samples based on the computer system environment where they were compiled. | ||
| 75 | +--- | ||
| 76 | + | ||
| 77 | + | ||
| 78 | + | ||
| 79 | + | ||
| 80 | +## V1.0.0.2-20250401-Release | ||
| 81 | +**[Note]**: | ||
| 82 | +To support more camera expansion features, Add new camera API. Fixed some known issues. | ||
| 83 | + | ||
| 84 | +**[Added]**: | ||
| 85 | +* Add API which used to get obtain camera calculation position. | ||
| 86 | +* Add API which used to control the camera tracker integrated into the payload camera. | ||
| 87 | + | ||
| 88 | +**[Fixed]**: | ||
| 89 | +* Fix the issue that the camera status is not updated when the camera has connected. | ||
| 90 | +* Fix occasional screen distortion in camera videos | ||
| 91 | +--- | ||
| 92 | + | ||
| 93 | + | ||
| 94 | + | ||
| 95 | + | ||
| 96 | +## V1.0.0.1-20250310-Release | ||
| 97 | +**[Note]**: | ||
| 98 | +To support more camera expansion features, Add new camera API. Fixed some known issues. | ||
| 99 | + | ||
| 100 | +**[Added]**: | ||
| 101 | +* Add API which used to control the range finder integrated into the payload camera. | ||
| 102 | +--- | ||
| 103 | + | ||
| 104 | + | ||
| 105 | + | ||
| 106 | + | ||
| 107 | +## V1.0.0.0-20250306-Release | ||
| 108 | +**[Note]**: | ||
| 109 | +This version of Payload SDK mainly first release. Please refer to the release notes for detailed changes list. | ||
| 110 | + | ||
| 111 | +**[Added]**: | ||
| 112 | +* Added support for gimbal functionality | ||
| 113 | +* Added support for basic camera functionality | ||
| 114 | +* Added support for widget functionality | ||
| 115 | +* Added support for subscription functionality | ||
| 116 | +--- | ||
| 117 | + | ||
| 118 | + | ||
| 119 | + | ||
| 120 | + | ||
| 121 | + | ||
| 122 | + |
| @@ -182,12 +182,42 @@ typedef struct { | @@ -182,12 +182,42 @@ typedef struct { | ||
| 182 | } T_ZiyanCameraSystemState; | 182 | } T_ZiyanCameraSystemState; |
| 183 | 183 | ||
| 184 | /** | 184 | /** |
| 185 | + * @brief Camera tracking target state. | ||
| 186 | + */ | ||
| 187 | +typedef enum { | ||
| 188 | + ZIYAN_CAMERA_TRACKING_TARGET_STATUS_READY = 0, | ||
| 189 | + ZIYAN_CAMERA_TRACKING_TARGET_STATUS_FAILED = 1, | ||
| 190 | + ZIYAN_CAMERA_TRACKING_TARGET_STATUS_TRACKING = 2, | ||
| 191 | + ZIYAN_CAMERA_TRACKING_TARGET_STATUS_LOST = 3, | ||
| 192 | +} E_ZiyanCameraTrackingTargetState; | ||
| 193 | +/** | ||
| 185 | * @brief Camera tracking state. | 194 | * @brief Camera tracking state. |
| 186 | */ | 195 | */ |
| 187 | typedef struct { | 196 | typedef struct { |
| 188 | - bool isTraking; /*!< Specifies if the camera is in tracking status. This parameter is boolean type. */ | ||
| 189 | - T_ZiyanCameraPointInScreen targetPoint; | ||
| 190 | - T_ZiyanLocation targetLocation; | 197 | + E_ZiyanCameraTrackingTargetState status; /*!< Specifies track the status of the target, #E_ZiyanCameraTrackingTargetState. */ |
| 198 | + float startX; /*!< Specifies the ratio of the x-coordinate of the starting point to the maximum horizontal pixel, This parameter is float type. */ | ||
| 199 | + float startY; /*!< Specifies the ratio of the y-coordinate of the starting point to the maximum vertical pixel, This parameter is float type. */ | ||
| 200 | + float endX; /*!< Specifies the ratio of the x-coordinate of the endpoint to the maximum horizontal pixel, This parameter is float type. */ | ||
| 201 | + float endY; /*!< Specifies the ratio of the y-coordinate of the endpoint to the maximum vertical pixel, This parameter is float type. */ | ||
| 202 | + float centerX;/*!< Specifies the x-coordinate of the center point of the tracked target, This parameter is float type. */ | ||
| 203 | + float centerY;/*!< Specifies the y-coordinate of the center point of the tracked target, This parameter is float type. */ | ||
| 204 | + double longitude; /*!< Specifies track the longitude of the center of the target object, This parameter is double type. */ | ||
| 205 | + double latitude; /*!< Specifies track the latitude of the center of the target object, This parameter is double type. */ | ||
| 206 | + double altitude; /*!< Specifies track the altitude of the center of the target object, This parameter is double type. unit: m*/ | ||
| 207 | + float coorN; /*!< Specifies tracking the northbound velocity of the target object center in the WGS-84 coordinate system, This parameter is float type. */ | ||
| 208 | + float coorE; /*!< Specifies tracking the eastward velocity of the center of the target object in the WGS-84 coordinate system, This parameter is float type. */ | ||
| 209 | + float coorD; /*!< Specifies tracking the radial velocity of the center of the target object in the WGS-84 coordinate system, This parameter is float type. */ | ||
| 210 | + float bodyX; /*!< Specifies tracking the velocity of the center of the target object in the x-axis direction of the body coordinates, This parameter is float type. */ | ||
| 211 | + float bodyY; /*!< Specifies tracking the velocity of the center of the target object in the y-axis direction of the body coordinates, This parameter is float type. */ | ||
| 212 | + float bodyZ; /*!< Specifies tracking the velocity of the center of the target object in the z-axis direction of the body coordinates, This parameter is float type. */ | ||
| 213 | + char targetName[17]; /*!< Specifies target recognition name for tracking, This parameter is string type. */ | ||
| 214 | + int confidence; /*!< Specifies confidence level of tracked targets, This parameter is int type. */ | ||
| 215 | + char targetType[17]; /*!< Specifies the type name of the tracked target, This parameter is string type. */ | ||
| 216 | + | ||
| 217 | + /* The following variables will be deprecated! */ | ||
| 218 | + bool isTraking; /*!< Deprecated! Specifies if the camera is in tracking status. This parameter is boolean type. */ | ||
| 219 | + T_ZiyanCameraPointInScreen targetPoint; /*!< Deprecated! */ | ||
| 220 | + T_ZiyanLocation targetLocation; /*!< Deprecated! */ | ||
| 191 | } T_ZiyanCameraTrackState; | 221 | } T_ZiyanCameraTrackState; |
| 192 | 222 | ||
| 193 | /** | 223 | /** |
| @@ -736,7 +766,7 @@ typedef struct { | @@ -736,7 +766,7 @@ typedef struct { | ||
| 736 | 766 | ||
| 737 | 767 | ||
| 738 | /** | 768 | /** |
| 739 | - * @brief Prototype of handler functions for Extend function. | 769 | + * @brief Prototype of handler functions for Range finder function. |
| 740 | * @note User can not execute blocking style operations or functions in callback function, like ziyanXPort_RotateSync() | 770 | * @note User can not execute blocking style operations or functions in callback function, like ziyanXPort_RotateSync() |
| 741 | * function, because that will block ziyan root thread, causing problems such as slow system response, payload | 771 | * function, because that will block ziyan root thread, causing problems such as slow system response, payload |
| 742 | * disconnection or infinite loop. | 772 | * disconnection or infinite loop. |
| @@ -777,7 +807,15 @@ typedef struct { | @@ -777,7 +807,15 @@ typedef struct { | ||
| 777 | * @return Execution result. | 807 | * @return Execution result. |
| 778 | */ | 808 | */ |
| 779 | T_ZiyanReturnCode (*GetRangeFinderLocation)(T_ZiyanLocation* location); | 809 | T_ZiyanReturnCode (*GetRangeFinderLocation)(T_ZiyanLocation* location); |
| 810 | +} T_ZiyanCameraRangeFinderHandler; | ||
| 780 | 811 | ||
| 812 | +/** | ||
| 813 | + * @brief Prototype of handler functions for Tracking function. | ||
| 814 | + * @note User can not execute blocking style operations or functions in callback function, like ziyanXPort_RotateSync() | ||
| 815 | + * function, because that will block ziyan root thread, causing problems such as slow system response, payload | ||
| 816 | + * disconnection or infinite loop. | ||
| 817 | + */ | ||
| 818 | +typedef struct { | ||
| 781 | /** | 819 | /** |
| 782 | * @brief Prototype of callback function used to track target. | 820 | * @brief Prototype of callback function used to track target. |
| 783 | * @details User can select desired target by tap screen or manual draw a bounding box, this callback function | 821 | * @details User can select desired target by tap screen or manual draw a bounding box, this callback function |
| @@ -786,7 +824,16 @@ typedef struct { | @@ -786,7 +824,16 @@ typedef struct { | ||
| 786 | * @param target_end: end point of target. Range: 0 to 1. | 824 | * @param target_end: end point of target. Range: 0 to 1. |
| 787 | * @return Execution result. | 825 | * @return Execution result. |
| 788 | */ | 826 | */ |
| 789 | - T_ZiyanReturnCode (*TrackTarget)(T_ZiyanCameraPointInScreen target_begin, T_ZiyanCameraPointInScreen target_end); | 827 | + T_ZiyanReturnCode (*TrackTarget)(T_ZiyanCameraPointInScreen targetBegin, T_ZiyanCameraPointInScreen targetEnd); |
| 828 | + | ||
| 829 | + /** | ||
| 830 | + * @brief Prototype of callback function used to track target. | ||
| 831 | + * @details Users can input the target recognition name, this callback function | ||
| 832 | + * will be called when User select target on the application or GSDK. | ||
| 833 | + * @param targetName: Target recognition name. | ||
| 834 | + * @return Execution result. | ||
| 835 | + */ | ||
| 836 | + T_ZiyanReturnCode (*TrackTargetByName)(const char *targetName); | ||
| 790 | 837 | ||
| 791 | /** | 838 | /** |
| 792 | * @brief Prototype of callback function used to stop track target. | 839 | * @brief Prototype of callback function used to stop track target. |
| @@ -804,7 +851,7 @@ typedef struct { | @@ -804,7 +851,7 @@ typedef struct { | ||
| 804 | */ | 851 | */ |
| 805 | T_ZiyanReturnCode (*GetTrackState)(T_ZiyanCameraTrackState* state); | 852 | T_ZiyanReturnCode (*GetTrackState)(T_ZiyanCameraTrackState* state); |
| 806 | 853 | ||
| 807 | -} T_ZiyanCameraExtendHandler; | 854 | +} T_ZiyanCameraTrackingHandler; |
| 808 | 855 | ||
| 809 | /* Exported functions --------------------------------------------------------*/ | 856 | /* Exported functions --------------------------------------------------------*/ |
| 810 | /** | 857 | /** |
| @@ -878,14 +925,24 @@ T_ZiyanReturnCode ZiyanPayloadCamera_RegOpticalZoomHandler(const T_ZiyanCameraOp | @@ -878,14 +925,24 @@ T_ZiyanReturnCode ZiyanPayloadCamera_RegOpticalZoomHandler(const T_ZiyanCameraOp | ||
| 878 | T_ZiyanReturnCode ZiyanPayloadCamera_RegTapZoomHandler(const T_ZiyanCameraTapZoomHandler *cameraTapZoomHandler); | 925 | T_ZiyanReturnCode ZiyanPayloadCamera_RegTapZoomHandler(const T_ZiyanCameraTapZoomHandler *cameraTapZoomHandler); |
| 879 | 926 | ||
| 880 | /** | 927 | /** |
| 881 | - * @brief Register the handler for payload camera extend function interfaces. | ||
| 882 | - * @note This interface registers the camera's extend interface, which includes setting and acquiring the range finder | 928 | + * @brief Register the handler for payload camera range finder function interfaces. |
| 929 | + * @note This interface registers the camera's range finder interface, which includes setting and acquiring the range finder | ||
| 883 | * switch. Registering the load on this interface requires support for range finder. Registration of this interface | 930 | * switch. Registering the load on this interface requires support for range finder. Registration of this interface |
| 884 | * needs to be after ZiyanPayloadCamera_Init. | 931 | * needs to be after ZiyanPayloadCamera_Init. |
| 885 | - * @param cameraExtendHandler: pointer to the handler for payload camera extend functions. | 932 | + * @param cameraRangeFinderHandler: pointer to the handler for payload camera range finder functions. |
| 933 | + * @return Execution result. | ||
| 934 | +*/ | ||
| 935 | +T_ZiyanReturnCode ZiyanPayloadCamera_RegRangeFinderHandler(const T_ZiyanCameraRangeFinderHandler *cameraRangeFinderHandler); | ||
| 936 | + | ||
| 937 | +/** | ||
| 938 | + * @brief Register the handler for payload camera tracking function interfaces. | ||
| 939 | + * @note This interface registers the camera's tracking interface, which includes setting and acquiring the tracking | ||
| 940 | + * switch. Registering the load on this interface requires support for tracking. Registration of this interface | ||
| 941 | + * needs to be after ZiyanPayloadCamera_Init. | ||
| 942 | + * @param cameraTrackingHandler: pointer to the handler for payload camera tracking functions. | ||
| 886 | * @return Execution result. | 943 | * @return Execution result. |
| 887 | */ | 944 | */ |
| 888 | -T_ZiyanReturnCode ZiyanPayloadCamera_RegExtendHandler(const T_ZiyanCameraExtendHandler *cameraExtendHandler); | 945 | +T_ZiyanReturnCode ZiyanPayloadCamera_RegTrackingHandler(const T_ZiyanCameraTrackingHandler *cameraTrackingHandler); |
| 889 | 946 | ||
| 890 | /** | 947 | /** |
| 891 | * @brief Set the type of camera video stream. | 948 | * @brief Set the type of camera video stream. |
| @@ -53,6 +53,11 @@ typedef void *T_ZiyanUsbBulkHandle; | @@ -53,6 +53,11 @@ typedef void *T_ZiyanUsbBulkHandle; | ||
| 53 | typedef void *T_ZiyanNetworkHandle; | 53 | typedef void *T_ZiyanNetworkHandle; |
| 54 | 54 | ||
| 55 | /** | 55 | /** |
| 56 | +* @brief Platform handle of i2c device operation. | ||
| 57 | +*/ | ||
| 58 | +typedef void *T_ZiyanI2cHandle; | ||
| 59 | + | ||
| 60 | +/** | ||
| 56 | * @brief Platform handle of thread task operation. | 61 | * @brief Platform handle of thread task operation. |
| 57 | */ | 62 | */ |
| 58 | typedef void *T_ZiyanTaskHandle; | 63 | typedef void *T_ZiyanTaskHandle; |
| @@ -195,6 +200,23 @@ typedef struct { | @@ -195,6 +200,23 @@ typedef struct { | ||
| 195 | } T_ZiyanHalNetworkHandler; | 200 | } T_ZiyanHalNetworkHandler; |
| 196 | 201 | ||
| 197 | typedef struct { | 202 | typedef struct { |
| 203 | + uint32_t i2cSpeed; | ||
| 204 | + uint16_t devAddress; | ||
| 205 | +} T_ZiyanHalI2cConfig; | ||
| 206 | + | ||
| 207 | +typedef struct { | ||
| 208 | + T_ZiyanReturnCode (*I2cInit)(T_ZiyanHalI2cConfig i2cConfig, T_ZiyanI2cHandle *i2cHandle); | ||
| 209 | + | ||
| 210 | + T_ZiyanReturnCode (*I2cDeInit)(T_ZiyanI2cHandle *i2cHandle); | ||
| 211 | + | ||
| 212 | + T_ZiyanReturnCode (*I2cWriteData)(T_ZiyanI2cHandle *i2cHandle, uint16_t devAddress, const uint8_t *buf, | ||
| 213 | + uint32_t len, uint32_t *realLen); | ||
| 214 | + | ||
| 215 | + T_ZiyanReturnCode (*I2cReadData)(T_ZiyanI2cHandle *i2cHandle, uint16_t devAddress, uint8_t *buf, | ||
| 216 | + uint32_t len, uint32_t *realLen); | ||
| 217 | +} T_ZiyanHalI2cHandler; | ||
| 218 | + | ||
| 219 | +typedef struct { | ||
| 198 | T_ZiyanReturnCode (*TaskCreate)(const char *name, void *(*taskFunc)(void *), | 220 | T_ZiyanReturnCode (*TaskCreate)(const char *name, void *(*taskFunc)(void *), |
| 199 | uint32_t stackSize, void *arg, T_ZiyanTaskHandle *task); | 221 | uint32_t stackSize, void *arg, T_ZiyanTaskHandle *task); |
| 200 | 222 | ||
| @@ -320,6 +342,19 @@ T_ZiyanReturnCode ZiyanPlatform_RegHalUsbBulkHandler(const T_ZiyanHalUsbBulkHand | @@ -320,6 +342,19 @@ T_ZiyanReturnCode ZiyanPlatform_RegHalUsbBulkHandler(const T_ZiyanHalUsbBulkHand | ||
| 320 | T_ZiyanReturnCode ZiyanPlatform_RegHalNetworkHandler(const T_ZiyanHalNetworkHandler *halNetworkHandler); | 342 | T_ZiyanReturnCode ZiyanPlatform_RegHalNetworkHandler(const T_ZiyanHalNetworkHandler *halNetworkHandler); |
| 321 | 343 | ||
| 322 | /** | 344 | /** |
| 345 | + * @brief Register the handler for hal i2c master mode interfaces by your platform. | ||
| 346 | + * @note It should be noted that the interface in hal is written and tested well. Users need to implement all the | ||
| 347 | + * interfaces. Otherwise, the user interface cannot be successfully registered, and then the user interface is registered | ||
| 348 | + * through the interface. If the registration fails, it needs to be based on the return code. To judge the problem. Make | ||
| 349 | + * sure that the feature is available after a successful registration. | ||
| 350 | + * @attention The interface needs to be called at the beginning of the application for registration, otherwise, the | ||
| 351 | + * subsequent functions will not work properly. | ||
| 352 | + * @param halI2cHandler: pointer to the handler for hal i2c handler interfaces by your platform. | ||
| 353 | + * @return Execution result. | ||
| 354 | + */ | ||
| 355 | +T_ZiyanReturnCode ZiyanPlatform_RegHalI2cHandler(const T_ZiyanHalI2cHandler *halI2cHandler); | ||
| 356 | + | ||
| 357 | +/** | ||
| 323 | * @brief Register the handler for osal interfaces by your platform. | 358 | * @brief Register the handler for osal interfaces by your platform. |
| 324 | * @note It should be noted that the interface in osal is written and tested well. Users need to implement all the | 359 | * @note It should be noted that the interface in osal is written and tested well. Users need to implement all the |
| 325 | * interfaces. Otherwise, the user interface cannot be successfully registered, and then the user interface is registered | 360 | * interfaces. Otherwise, the user interface cannot be successfully registered, and then the user interface is registered |
| @@ -34,9 +34,9 @@ extern "C" { | @@ -34,9 +34,9 @@ extern "C" { | ||
| 34 | 34 | ||
| 35 | /* Exported constants --------------------------------------------------------*/ | 35 | /* Exported constants --------------------------------------------------------*/ |
| 36 | #define ZIYAN_SDK_VERSION_MAJOR 1 /*!< ZIYAN SDK major version num, when have incompatible API changes. Range from 0 to 99. */ | 36 | #define ZIYAN_SDK_VERSION_MAJOR 1 /*!< ZIYAN SDK major version num, when have incompatible API changes. Range from 0 to 99. */ |
| 37 | -#define ZIYAN_SDK_VERSION_MINOR 0 /*!< ZIYAN SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */ | ||
| 38 | -#define ZIYAN_SDK_VERSION_MODIFY 0 /*!< ZIYAN SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */ | ||
| 39 | -#define ZIYAN_SDK_VERSION_DEBUG 4 /*!< ZIYAN SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */ | 37 | +#define ZIYAN_SDK_VERSION_MINOR 1 /*!< ZIYAN SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */ |
| 38 | +#define ZIYAN_SDK_VERSION_MODIFY 1 /*!< ZIYAN SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */ | ||
| 39 | +#define ZIYAN_SDK_VERSION_DEBUG 0 /*!< ZIYAN SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */ | ||
| 40 | #define ZIYAN_SDK_VERSION_BUILD 1 /*!< ZIYAN SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */ | 40 | #define ZIYAN_SDK_VERSION_BUILD 1 /*!< ZIYAN SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */ |
| 41 | 41 | ||
| 42 | /* Exported types ------------------------------------------------------------*/ | 42 | /* Exported types ------------------------------------------------------------*/ |
| @@ -81,7 +81,7 @@ static T_ZiyanCameraFocusHandler s_focusHandler; | @@ -81,7 +81,7 @@ static T_ZiyanCameraFocusHandler s_focusHandler; | ||
| 81 | static T_ZiyanCameraDigitalZoomHandler s_digitalZoomHandler; | 81 | static T_ZiyanCameraDigitalZoomHandler s_digitalZoomHandler; |
| 82 | static T_ZiyanCameraOpticalZoomHandler s_opticalZoomHandler; | 82 | static T_ZiyanCameraOpticalZoomHandler s_opticalZoomHandler; |
| 83 | static T_ZiyanCameraTapZoomHandler s_tapZoomHandler; | 83 | static T_ZiyanCameraTapZoomHandler s_tapZoomHandler; |
| 84 | -static T_ZiyanCameraExtendHandler s_extendHander; | 84 | +static T_ZiyanCameraRangeFinderHandler s_rangeFinderHander; |
| 85 | 85 | ||
| 86 | static T_ZiyanTaskHandle s_userCameraThread; | 86 | static T_ZiyanTaskHandle s_userCameraThread; |
| 87 | 87 | ||
| @@ -181,1140 +181,12 @@ static void *UserCamera_Task(void *arg); | @@ -181,1140 +181,12 @@ static void *UserCamera_Task(void *arg); | ||
| 181 | 181 | ||
| 182 | /* Private functions definition-----------------------------------------------*/ | 182 | /* Private functions definition-----------------------------------------------*/ |
| 183 | 183 | ||
| 184 | -#if 0 | ||
| 185 | - | ||
| 186 | -/**************************************************************************************************/ | ||
| 187 | - | ||
| 188 | -#include <stdio.h> | ||
| 189 | -#include <stdint.h> | ||
| 190 | -#include <stdlib.h> | ||
| 191 | -#include <string.h> | ||
| 192 | -#include <libavformat/avformat.h> | ||
| 193 | -#include <libavcodec/avcodec.h> | ||
| 194 | - | ||
| 195 | - | ||
| 196 | -#define VIDEO_STREAM_INDEX 0 // 视频流索引，假设为 0 | ||
| 197 | -#define BUFFER_SIZE 4096 // 每个帧的缓冲区大小 | ||
| 198 | - | ||
| 199 | -// void* push_video_stream(void* arg) | ||
| 200 | -// { | ||
| 201 | -// AVFormatContext *format_ctx = NULL; | ||
| 202 | -// AVCodecContext *codec_ctx = NULL; | ||
| 203 | -// AVCodec *codec = NULL; | ||
| 204 | -// AVPacket packet; | ||
| 205 | -// int video_stream_index = -1; | ||
| 206 | - | ||
| 207 | -// const char* filename = "/home/levi/Videos/test.mp4"; | ||
| 208 | -// USER_UTIL_UNUSED(arg); | ||
| 209 | - | ||
| 210 | -// // 初始化 FFmpeg 库 | ||
| 211 | -// av_register_all(); | ||
| 212 | -// avformat_network_init(); | ||
| 213 | - | ||
| 214 | -// // 打开输入文件 | ||
| 215 | -// if (avformat_open_input(&format_ctx, filename, NULL, NULL) < 0) { | ||
| 216 | -// fprintf(stderr, "Could not open file: %s\n", filename); | ||
| 217 | -// return; | ||
| 218 | -// } | ||
| 219 | - | ||
| 220 | -// // 获取文件信息 | ||
| 221 | -// if (avformat_find_stream_info(format_ctx, NULL) < 0) { | ||
| 222 | -// fprintf(stderr, "Could not find stream information\n"); | ||
| 223 | -// return; | ||
| 224 | -// } | ||
| 225 | - | ||
| 226 | -// // 查找视频流 | ||
| 227 | -// for (int i = 0; i < format_ctx->nb_streams; i++) { | ||
| 228 | -// if (format_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) { | ||
| 229 | -// video_stream_index = i; | ||
| 230 | -// break; | ||
| 231 | -// } | ||
| 232 | -// } | ||
| 233 | - | ||
| 234 | -// if (video_stream_index == -1) { | ||
| 235 | -// fprintf(stderr, "No video stream found in file\n"); | ||
| 236 | -// return; | ||
| 237 | -// } | ||
| 238 | - | ||
| 239 | -// // 获取视频流的解码器 | ||
| 240 | -// codec = avcodec_find_decoder(format_ctx->streams[video_stream_index]->codecpar->codec_id); | ||
| 241 | -// if (!codec) { | ||
| 242 | -// fprintf(stderr, "Codec not found\n"); | ||
| 243 | -// return; | ||
| 244 | -// } | ||
| 245 | - | ||
| 246 | -// // 创建解码器上下文 | ||
| 247 | -// codec_ctx = avcodec_alloc_context3(codec); | ||
| 248 | -// if (!codec_ctx) { | ||
| 249 | -// fprintf(stderr, "Could not allocate codec context\n"); | ||
| 250 | -// return; | ||
| 251 | -// } | ||
| 252 | - | ||
| 253 | -// // 初始化解码器上下文 | ||
| 254 | -// if (avcodec_parameters_to_context(codec_ctx, format_ctx->streams[video_stream_index]->codecpar) < 0) { | ||
| 255 | -// fprintf(stderr, "Could not copy codec parameters to context\n"); | ||
| 256 | -// return; | ||
| 257 | -// } | ||
| 258 | - | ||
| 259 | -// // 打开解码器 | ||
| 260 | -// if (avcodec_open2(codec_ctx, codec, NULL) < 0) { | ||
| 261 | -// fprintf(stderr, "Could not open codec\n"); | ||
| 262 | -// return; | ||
| 263 | -// } | ||
| 264 | - | ||
| 265 | -// // 读取视频数据包并推送每个视频帧 | ||
| 266 | -// av_init_packet(&packet); | ||
| 267 | -// while (av_read_frame(format_ctx, &packet) >= 0) { | ||
| 268 | -// if (packet.stream_index == video_stream_index) { | ||
| 269 | -// // 发送每一帧数据到 ZiyanPayloadCamera_SendVideoStream | ||
| 270 | -// T_ZiyanReturnCode ret = ZiyanPayloadCamera_SendVideoStream(packet.data, packet.size); | ||
| 271 | -// usleep(1000 * 100); | ||
| 272 | -// if (ret != 0) { | ||
| 273 | -// printf("Failed to send video stream\n"); | ||
| 274 | -// } | ||
| 275 | -// } | ||
| 276 | - | ||
| 277 | -// // 释放数据包 | ||
| 278 | -// av_packet_unref(&packet); | ||
| 279 | -// } | ||
| 280 | - | ||
| 281 | -// // 释放资源 | ||
| 282 | -// avcodec_free_context(&codec_ctx); | ||
| 283 | -// avformat_close_input(&format_ctx); | ||
| 284 | -// } | ||
| 285 | - | ||
| 286 | -#define UDP_STREAM_URL "udp://127.0.0.1:9600?pkt_size=1316" | ||
| 287 | -// #define UDP_STREAM_URL "udp://192.168.3.74:9600" | ||
| 288 | -// #define UDP_STREAM_URL "udp://127.0.0.1:9600" | ||
| 289 | - | ||
| 290 | -void* push_video_stream(void* arg) | ||
| 291 | -{ | ||
| 292 | - const char *input_file = "/home/levi/Videos/test.mp4"; | ||
| 293 | - AVFormatContext *ifmt_ctx = NULL, *ofmt_ctx = NULL; | ||
| 294 | - AVOutputFormat *ofmt = NULL; | ||
| 295 | - AVPacket pkt; | ||
| 296 | - int ret, stream_index = 0; | ||
| 297 | - int *stream_mapping = NULL; | ||
| 298 | - int stream_mapping_size = 0; | ||
| 299 | - | ||
| 300 | - // 初始化libavformat并注册所有的muxers, demuxers和protocols | ||
| 301 | - av_register_all(); | ||
| 302 | - avformat_network_init(); | ||
| 303 | - | ||
| 304 | - // 打开输入文件 | ||
| 305 | - if ((ret = avformat_open_input(&ifmt_ctx, input_file, NULL, NULL)) < 0) { | ||
| 306 | - fprintf(stderr, "Could not open input file '%s'\n", input_file); | ||
| 307 | - goto end; | ||
| 308 | - } | ||
| 309 | - | ||
| 310 | - // 获取流信息 | ||
| 311 | - if ((ret = avformat_find_stream_info(ifmt_ctx, NULL)) < 0) { | ||
| 312 | - fprintf(stderr, "Failed to retrieve input stream information\n"); | ||
| 313 | - goto end; | ||
| 314 | - } | ||
| 315 | - | ||
| 316 | - // 打印输入文件信息 | ||
| 317 | - av_dump_format(ifmt_ctx, 0, input_file, 0); | ||
| 318 | - | ||
| 319 | - // 分配输出上下文，并显式指定输出格式为mpegts | ||
| 320 | - ofmt = av_guess_format("mpegts", NULL, NULL); | ||
| 321 | - if (!ofmt) { | ||
| 322 | - fprintf(stderr, "Could not find MPEG-TS output format\n"); | ||
| 323 | - ret = AVERROR_UNKNOWN; | ||
| 324 | - goto end; | ||
| 325 | - } | ||
| 326 | - | ||
| 327 | - ofmt_ctx = avformat_alloc_context(); | ||
| 328 | - if (!ofmt_ctx) { | ||
| 329 | - fprintf(stderr, "Could not create output context\n"); | ||
| 330 | - ret = AVERROR_UNKNOWN; | ||
| 331 | - goto end; | ||
| 332 | - } | ||
| 333 | - ofmt_ctx->oformat = ofmt; | ||
| 334 | - | ||
| 335 | - // 设置输出URL | ||
| 336 | - snprintf(ofmt_ctx->filename, sizeof(ofmt_ctx->filename), "%s", UDP_STREAM_URL); | ||
| 337 | - | ||
| 338 | - // 映射输入流到输出流 | ||
| 339 | - stream_mapping_size = ifmt_ctx->nb_streams; | ||
| 340 | - stream_mapping = av_mallocz_array(stream_mapping_size, sizeof(*stream_mapping)); | ||
| 341 | - if (!stream_mapping) { | ||
| 342 | - ret = AVERROR(ENOMEM); | ||
| 343 | - goto end; | ||
| 344 | - } | ||
| 345 | - | ||
| 346 | - for (int i = 0; i < ifmt_ctx->nb_streams; i++) { | ||
| 347 | - AVStream *out_stream; | ||
| 348 | - AVStream *in_stream = ifmt_ctx->streams[i]; | ||
| 349 | - AVCodecParameters *in_codecpar = in_stream->codecpar; | ||
| 350 | - | ||
| 351 | - if (in_codecpar->codec_type != AVMEDIA_TYPE_VIDEO) { | ||
| 352 | - stream_mapping[i] = -1; | ||
| 353 | - continue; | ||
| 354 | - } | ||
| 355 | - | ||
| 356 | - stream_mapping[i] = stream_index++; | ||
| 357 | - | ||
| 358 | - out_stream = avformat_new_stream(ofmt_ctx, NULL); | ||
| 359 | - if (!out_stream) { | ||
| 360 | - fprintf(stderr, "Failed allocating output stream\n"); | ||
| 361 | - ret = AVERROR_UNKNOWN; | ||
| 362 | - goto end; | ||
| 363 | - } | ||
| 364 | - | ||
| 365 | - ret = avcodec_parameters_copy(out_stream->codecpar, in_codecpar); | ||
| 366 | - if (ret < 0) { | ||
| 367 | - fprintf(stderr, "Failed to copy codec parameters\n"); | ||
| 368 | - goto end; | ||
| 369 | - } | ||
| 370 | - out_stream->codecpar->codec_tag = 0; | ||
| 371 | - } | ||
| 372 | - | ||
| 373 | - // 打印输出格式信息 | ||
| 374 | - av_dump_format(ofmt_ctx, 0, UDP_STREAM_URL, 1); | ||
| 375 | - | ||
| 376 | - // 打开输出URL | ||
| 377 | - if (!(ofmt->flags & AVFMT_NOFILE)) { | ||
| 378 | - ret = avio_open(&ofmt_ctx->pb, UDP_STREAM_URL, AVIO_FLAG_WRITE); | ||
| 379 | - if (ret < 0) { | ||
| 380 | - fprintf(stderr, "Could not open output URL '%s'\n", UDP_STREAM_URL); | ||
| 381 | - goto end; | ||
| 382 | - } | ||
| 383 | - } | ||
| 384 | - | ||
| 385 | - // 写文件头 | ||
| 386 | - ret = avformat_write_header(ofmt_ctx, NULL); | ||
| 387 | - if (ret < 0) { | ||
| 388 | - fprintf(stderr, "Error occurred when opening output URL\n"); | ||
| 389 | - goto end; | ||
| 390 | - } | ||
| 391 | - | ||
| 392 | - // 读取并写入数据包 | ||
| 393 | - while (1) { | ||
| 394 | - AVStream *in_stream, *out_stream; | ||
| 395 | - | ||
| 396 | - ret = av_read_frame(ifmt_ctx, &pkt); | ||
| 397 | - if (ret < 0) | ||
| 398 | - break; | ||
| 399 | - | ||
| 400 | - in_stream = ifmt_ctx->streams[pkt.stream_index]; | ||
| 401 | - if (pkt.stream_index >= stream_mapping_size || | ||
| 402 | - stream_mapping[pkt.stream_index] < 0) { | ||
| 403 | - av_packet_unref(&pkt); | ||
| 404 | - continue; | ||
| 405 | - } | ||
| 406 | - | ||
| 407 | - pkt.stream_index = stream_mapping[pkt.stream_index]; | ||
| 408 | - out_stream = ofmt_ctx->streams[pkt.stream_index]; | ||
| 409 | - | ||
| 410 | - // 复制packet | ||
| 411 | - pkt.pts = av_rescale_q_rnd(pkt.pts, in_stream->time_base, out_stream->time_base, AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX); | ||
| 412 | - pkt.dts = av_rescale_q_rnd(pkt.dts, in_stream->time_base, out_stream->time_base, AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX); | ||
| 413 | - pkt.duration = av_rescale_q(pkt.duration, in_stream->time_base, out_stream->time_base); | ||
| 414 | - pkt.pos = -1; | ||
| 415 | - | ||
| 416 | - | ||
| 417 | - // T_ZiyanReturnCode ret = ZiyanPayloadCamera_SendVideoStream(pkt.data, pkt.size); | ||
| 418 | - | ||
| 419 | - // 写packet | ||
| 420 | - ret = av_interleaved_write_frame(ofmt_ctx, &pkt); | ||
| 421 | - if (ret < 0) { | ||
| 422 | - fprintf(stderr, "Error muxing packet\n"); | ||
| 423 | - break; | ||
| 424 | - } | ||
| 425 | - av_packet_unref(&pkt); | ||
| 426 | - usleep(1000*34); | ||
| 427 | - } | ||
| 428 | - | ||
| 429 | - // 写文件尾 | ||
| 430 | - av_write_trailer(ofmt_ctx); | ||
| 431 | - | ||
| 432 | -end: | ||
| 433 | - avformat_close_input(&ifmt_ctx); | ||
| 434 | - | ||
| 435 | - if (ofmt_ctx && !(ofmt->flags & AVFMT_NOFILE)) | ||
| 436 | - avio_closep(&ofmt_ctx->pb); | ||
| 437 | - | ||
| 438 | - avformat_free_context(ofmt_ctx); | ||
| 439 | - av_freep(&stream_mapping); | ||
| 440 | - | ||
| 441 | - if (ret < 0 && ret != AVERROR_EOF) { | ||
| 442 | - fprintf(stderr, "Error occurred: %s\n", av_err2str(ret)); | ||
| 443 | - return 1; | ||
| 444 | - } | ||
| 445 | - | ||
| 446 | - return 0; | ||
| 447 | -} | ||
| 448 | - | ||
| 449 | - | ||
| 450 | - | ||
| 451 | -void* push_video_stream1(void* arg) | ||
| 452 | -{ | ||
| 453 | - const char *input_file = "/home/levi/Videos/test.mp4"; | ||
| 454 | - AVFormatContext *ifmt_ctx = NULL; | ||
| 455 | - AVPacket pkt; | ||
| 456 | - int ret; | ||
| 457 | - | ||
| 458 | - // 初始化libavformat并注册所有的muxers, demuxers和protocols | ||
| 459 | - av_register_all(); | ||
| 460 | - avformat_network_init(); | ||
| 461 | - | ||
| 462 | - // 打开输入文件 | ||
| 463 | - if ((ret = avformat_open_input(&ifmt_ctx, input_file, NULL, NULL)) < 0) { | ||
| 464 | - fprintf(stderr, "Could not open input file '%s'\n", input_file); | ||
| 465 | - goto end; | ||
| 466 | - } | ||
| 467 | - | ||
| 468 | - // 获取流信息 | ||
| 469 | - if ((ret = avformat_find_stream_info(ifmt_ctx, NULL)) < 0) { | ||
| 470 | - fprintf(stderr, "Failed to retrieve input stream information\n"); | ||
| 471 | - goto end; | ||
| 472 | - } | ||
| 473 | - | ||
| 474 | - // 打印输入文件信息 | ||
| 475 | - av_dump_format(ifmt_ctx, 0, input_file, 0); | ||
| 476 | - | ||
| 477 | - // 查找视频流 | ||
| 478 | - int video_stream_index = -1; | ||
| 479 | - for (int i = 0; i < ifmt_ctx->nb_streams; i++) { | ||
| 480 | - if (ifmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) { | ||
| 481 | - video_stream_index = i; | ||
| 482 | - break; | ||
| 483 | - } | ||
| 484 | - } | ||
| 485 | - | ||
| 486 | - if (video_stream_index == -1) { | ||
| 487 | - fprintf(stderr, "No video stream found in input file\n"); | ||
| 488 | - ret = AVERROR_UNKNOWN; | ||
| 489 | - goto end; | ||
| 490 | - } | ||
| 491 | - | ||
| 492 | - // 读取并发送H.264帧 | ||
| 493 | - while (1) { | ||
| 494 | - ret = av_read_frame(ifmt_ctx, &pkt); | ||
| 495 | - if (ret < 0) | ||
| 496 | - break; | ||
| 497 | - | ||
| 498 | - // 只处理视频流 | ||
| 499 | - if (pkt.stream_index == video_stream_index) { | ||
| 500 | - // 调用发送函数发送H.264帧 | ||
| 501 | - ZiyanPayloadCamera_SendVideoStream(pkt.data, pkt.size); | ||
| 502 | - } | ||
| 503 | - usleep(1000*34); | ||
| 504 | - av_packet_unref(&pkt); | ||
| 505 | - } | ||
| 506 | - | ||
| 507 | -end: | ||
| 508 | - avformat_close_input(&ifmt_ctx); | ||
| 509 | - | ||
| 510 | - if (ret < 0 && ret != AVERROR_EOF) { | ||
| 511 | - fprintf(stderr, "Error occurred: %s\n", av_err2str(ret)); | ||
| 512 | - return 1; | ||
| 513 | - } | ||
| 514 | - | ||
| 515 | - return 0; | ||
| 516 | -} | ||
| 517 | - | ||
| 518 | - | ||
| 519 | - | ||
| 520 | -#include <stdio.h> | ||
| 521 | -#include <stdlib.h> | ||
| 522 | -#include <string.h> | ||
| 523 | -#include <unistd.h> | ||
| 524 | -#include <arpa/inet.h> | ||
| 525 | -#include <libavformat/avformat.h> | ||
| 526 | -#include <libavcodec/avcodec.h> | ||
| 527 | -#include <libavutil/avutil.h> | ||
| 528 | -#include <libavutil/opt.h> | ||
| 529 | - | ||
| 530 | -// #define DEST_IP "127.0.0.1" | ||
| 531 | -#define DEST_IP "127.0.0.1" | ||
| 532 | -#define DEST_PORT 9600 | ||
| 533 | - | ||
| 534 | -void* push_video_stream2(void* arg) | ||
| 535 | -{ | ||
| 536 | - const char *input_file = "/home/levi/Videos/test.mp4"; | ||
| 537 | - AVFormatContext *format_ctx = NULL; | ||
| 538 | - AVCodecContext *codec_ctx = NULL; | ||
| 539 | - AVStream *video_stream = NULL; | ||
| 540 | - AVPacket packet; | ||
| 541 | - int ret, video_stream_index; | ||
| 542 | - | ||
| 543 | - // 初始化 FFmpeg 库 | ||
| 544 | - av_register_all(); | ||
| 545 | - avformat_network_init(); | ||
| 546 | - | ||
| 547 | - // 打开输入文件 | ||
| 548 | - ret = avformat_open_input(&format_ctx, input_file, NULL, NULL); | ||
| 549 | - if (ret < 0) { | ||
| 550 | - fprintf(stderr, "Could not open input file '%s'\n", input_file); | ||
| 551 | - return ret; | ||
| 552 | - } | ||
| 553 | - | ||
| 554 | - // 获取文件信息 | ||
| 555 | - ret = avformat_find_stream_info(format_ctx, NULL); | ||
| 556 | - if (ret < 0) { | ||
| 557 | - fprintf(stderr, "Could not find stream information\n"); | ||
| 558 | - return ret; | ||
| 559 | - } | ||
| 560 | - | ||
| 561 | - // 查找视频流 | ||
| 562 | - video_stream_index = -1; | ||
| 563 | - for (int i = 0; i < format_ctx->nb_streams; i++) { | ||
| 564 | - if (format_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) { | ||
| 565 | - video_stream_index = i; | ||
| 566 | - video_stream = format_ctx->streams[i]; | ||
| 567 | - break; | ||
| 568 | - } | ||
| 569 | - } | ||
| 570 | - | ||
| 571 | - if (video_stream_index == -1) { | ||
| 572 | - fprintf(stderr, "No video stream found\n"); | ||
| 573 | - return -1; | ||
| 574 | - } | ||
| 575 | - | ||
| 576 | - // 获取视频流的解码器 | ||
| 577 | - AVCodec *codec = avcodec_find_decoder(video_stream->codecpar->codec_id); | ||
| 578 | - if (!codec) { | ||
| 579 | - fprintf(stderr, "Codec not found\n"); | ||
| 580 | - return -1; | ||
| 581 | - } | ||
| 582 | - | ||
| 583 | - codec_ctx = avcodec_alloc_context3(codec); | ||
| 584 | - if (!codec_ctx) { | ||
| 585 | - fprintf(stderr, "Could not allocate codec context\n"); | ||
| 586 | - return -1; | ||
| 587 | - } | ||
| 588 | - | ||
| 589 | - ret = avcodec_parameters_to_context(codec_ctx, video_stream->codecpar); | ||
| 590 | - if (ret < 0) { | ||
| 591 | - fprintf(stderr, "Could not copy codec parameters\n"); | ||
| 592 | - return ret; | ||
| 593 | - } | ||
| 594 | - | ||
| 595 | - ret = avcodec_open2(codec_ctx, codec, NULL); | ||
| 596 | - if (ret < 0) { | ||
| 597 | - fprintf(stderr, "Could not open codec\n"); | ||
| 598 | - return ret; | ||
| 599 | - } | ||
| 600 | - | ||
| 601 | - // 设置 UDP socket | ||
| 602 | - int sockfd = socket(AF_INET, SOCK_DGRAM, 0); | ||
| 603 | - if (sockfd < 0) { | ||
| 604 | - perror("Socket creation failed"); | ||
| 605 | - return -1; | ||
| 606 | - } | ||
| 607 | - | ||
| 608 | - struct sockaddr_in dest_addr; | ||
| 609 | - memset(&dest_addr, 0, sizeof(dest_addr)); | ||
| 610 | - dest_addr.sin_family = AF_INET; | ||
| 611 | - dest_addr.sin_port = htons(DEST_PORT); | ||
| 612 | - ret = inet_pton(AF_INET, DEST_IP, &dest_addr.sin_addr); | ||
| 613 | - if (ret <= 0) { | ||
| 614 | - fprintf(stderr, "Invalid destination IP address\n"); | ||
| 615 | - return -1; | ||
| 616 | - } | ||
| 617 | - | ||
| 618 | - // 解码并发送数据 | ||
| 619 | - av_init_packet(&packet); | ||
| 620 | - while (1) { | ||
| 621 | - ret = av_read_frame(format_ctx, &packet); | ||
| 622 | - if (ret < 0) { | ||
| 623 | - break; | ||
| 624 | - } | ||
| 625 | - | ||
| 626 | - if (packet.stream_index == video_stream_index) { | ||
| 627 | - // 这里发送的是解码后的裸流数据 | ||
| 628 | - ret = sendto(sockfd, packet.data, packet.size, 0, (struct sockaddr *)&dest_addr, sizeof(dest_addr)); | ||
| 629 | - if (ret < 0) { | ||
| 630 | - perror("Sendto failed"); | ||
| 631 | - break; | ||
| 632 | - } | ||
| 633 | - } | ||
| 634 | - usleep(1000*34); | ||
| 635 | - av_packet_unref(&packet); | ||
| 636 | - } | ||
| 637 | - | ||
| 638 | - // 清理资源 | ||
| 639 | - close(sockfd); | ||
| 640 | - avcodec_free_context(&codec_ctx); | ||
| 641 | - avformat_close_input(&format_ctx); | ||
| 642 | - | ||
| 643 | - return 0; | ||
| 644 | -} | ||
| 645 | - | ||
| 646 | - | ||
| 647 | - | ||
| 648 | -#include <stdio.h> | ||
| 649 | -#include <stdlib.h> | ||
| 650 | -#include <string.h> | ||
| 651 | -#include <unistd.h> | ||
| 652 | -#include <arpa/inet.h> | ||
| 653 | -#include <libavformat/avformat.h> | ||
| 654 | -#include <libavcodec/avcodec.h> | ||
| 655 | -#include <libavutil/avutil.h> | ||
| 656 | -#include <libavutil/opt.h> | ||
| 657 | - | ||
| 658 | -// #define DEST_IP "192.168.3.74" | ||
| 659 | -// #define DEST_PORT 9600 | ||
| 660 | - | ||
| 661 | -void* push_video_stream3(void* arg) | ||
| 662 | -{ | ||
| 663 | - const char *input_file = "/home/levi/Videos/test.mp4"; | ||
| 664 | - AVFormatContext *input_format_ctx = NULL, *output_format_ctx = NULL; | ||
| 665 | - AVCodecContext *codec_ctx = NULL; | ||
| 666 | - AVStream *video_stream = NULL; | ||
| 667 | - AVPacket packet; | ||
| 668 | - int ret, video_stream_index; | ||
| 669 | - | ||
| 670 | - // 初始化 FFmpeg 库 | ||
| 671 | - av_register_all(); | ||
| 672 | - avformat_network_init(); | ||
| 673 | - | ||
| 674 | - // 打开输入 MP4 文件 | ||
| 675 | - ret = avformat_open_input(&input_format_ctx, input_file, NULL, NULL); | ||
| 676 | - if (ret < 0) { | ||
| 677 | - fprintf(stderr, "Could not open input file '%s'\n", input_file); | ||
| 678 | - return ret; | ||
| 679 | - } | ||
| 680 | - | ||
| 681 | - // 获取文件流信息 | ||
| 682 | - ret = avformat_find_stream_info(input_format_ctx, NULL); | ||
| 683 | - if (ret < 0) { | ||
| 684 | - fprintf(stderr, "Could not find stream information\n"); | ||
| 685 | - return ret; | ||
| 686 | - } | ||
| 687 | - | ||
| 688 | - // 查找视频流 | ||
| 689 | - video_stream_index = -1; | ||
| 690 | - for (int i = 0; i < input_format_ctx->nb_streams; i++) { | ||
| 691 | - if (input_format_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) { | ||
| 692 | - video_stream_index = i; | ||
| 693 | - video_stream = input_format_ctx->streams[i]; | ||
| 694 | - break; | ||
| 695 | - } | ||
| 696 | - } | ||
| 697 | - | ||
| 698 | - if (video_stream_index == -1) { | ||
| 699 | - fprintf(stderr, "No video stream found\n"); | ||
| 700 | - return -1; | ||
| 701 | - } | ||
| 702 | - | ||
| 703 | - // 获取视频流的解码器 | ||
| 704 | - AVCodec *codec = avcodec_find_decoder(video_stream->codecpar->codec_id); | ||
| 705 | - if (!codec) { | ||
| 706 | - fprintf(stderr, "Codec not found\n"); | ||
| 707 | - return -1; | ||
| 708 | - } | ||
| 709 | - | ||
| 710 | - codec_ctx = avcodec_alloc_context3(codec); | ||
| 711 | - if (!codec_ctx) { | ||
| 712 | - fprintf(stderr, "Could not allocate codec context\n"); | ||
| 713 | - return -1; | ||
| 714 | - } | ||
| 715 | - | ||
| 716 | - ret = avcodec_parameters_to_context(codec_ctx, video_stream->codecpar); | ||
| 717 | - if (ret < 0) { | ||
| 718 | - fprintf(stderr, "Could not copy codec parameters\n"); | ||
| 719 | - return ret; | ||
| 720 | - } | ||
| 721 | - | ||
| 722 | - ret = avcodec_open2(codec_ctx, codec, NULL); | ||
| 723 | - if (ret < 0) { | ||
| 724 | - fprintf(stderr, "Could not open codec\n"); | ||
| 725 | - return ret; | ||
| 726 | - } | ||
| 727 | - | ||
| 728 | - // 创建输出格式上下文（MPEG-TS 格式） | ||
| 729 | - ret = avformat_alloc_output_context2(&output_format_ctx, NULL, "mpegts", "udp://127.0.0.1:9600"); | ||
| 730 | - if (ret < 0 || !output_format_ctx) { | ||
| 731 | - fprintf(stderr, "Could not create output context\n"); | ||
| 732 | - return ret; | ||
| 733 | - } | ||
| 734 | - | ||
| 735 | - // 创建输出流 | ||
| 736 | - AVStream *out_stream = avformat_new_stream(output_format_ctx, codec); | ||
| 737 | - if (!out_stream) { | ||
| 738 | - fprintf(stderr, "Could not create stream\n"); | ||
| 739 | - return AVERROR_UNKNOWN; | ||
| 740 | - } | ||
| 741 | - | ||
| 742 | - // 复制输入流参数到输出流 | ||
| 743 | - ret = avcodec_parameters_copy(out_stream->codecpar, video_stream->codecpar); | ||
| 744 | - if (ret < 0) { | ||
| 745 | - fprintf(stderr, "Could not copy codec parameters\n"); | ||
| 746 | - return ret; | ||
| 747 | - } | ||
| 748 | - | ||
| 749 | - // 打开输出文件/流 | ||
| 750 | - if (!(output_format_ctx->oformat->flags & AVFMT_NOFILE)) { | ||
| 751 | - ret = avio_open(&output_format_ctx->pb, "udp://127.0.0.1:9600", AVIO_FLAG_WRITE); | ||
| 752 | - if (ret < 0) { | ||
| 753 | - fprintf(stderr, "Could not open output stream\n"); | ||
| 754 | - return ret; | ||
| 755 | - } | ||
| 756 | - } | ||
| 757 | - | ||
| 758 | - // 写入 MPEG-TS 文件头 | ||
| 759 | - ret = avformat_write_header(output_format_ctx, NULL); | ||
| 760 | - if (ret < 0) { | ||
| 761 | - fprintf(stderr, "Error writing header to output stream\n"); | ||
| 762 | - return ret; | ||
| 763 | - } | ||
| 764 | - | ||
| 765 | - // 创建 UDP socket | ||
| 766 | - int sockfd = socket(AF_INET, SOCK_DGRAM, 0); | ||
| 767 | - if (sockfd < 0) { | ||
| 768 | - perror("Socket creation failed"); | ||
| 769 | - return -1; | ||
| 770 | - } | ||
| 771 | - | ||
| 772 | - struct sockaddr_in dest_addr; | ||
| 773 | - memset(&dest_addr, 0, sizeof(dest_addr)); | ||
| 774 | - dest_addr.sin_family = AF_INET; | ||
| 775 | - dest_addr.sin_port = htons(DEST_PORT); | ||
| 776 | - ret = inet_pton(AF_INET, DEST_IP, &dest_addr.sin_addr); | ||
| 777 | - if (ret <= 0) { | ||
| 778 | - fprintf(stderr, "Invalid destination IP address\n"); | ||
| 779 | - return -1; | ||
| 780 | - } | ||
| 781 | - | ||
| 782 | - // 解码并发送视频流 | ||
| 783 | - av_init_packet(&packet); | ||
| 784 | - while (1) { | ||
| 785 | - ret = av_read_frame(input_format_ctx, &packet); | ||
| 786 | - if (ret < 0) { | ||
| 787 | - break; | ||
| 788 | - } | ||
| 789 | - | ||
| 790 | - if (packet.stream_index == video_stream_index) { | ||
| 791 | - // 将视频数据包发送到 UDP | ||
| 792 | - // ret = sendto(sockfd, packet.data, packet.size, 0, (struct sockaddr *)&dest_addr, sizeof(dest_addr)); | ||
| 793 | - ZiyanPayloadCamera_SendVideoStream(packet.data, packet.size); | ||
| 794 | - if (ret < 0) { | ||
| 795 | - perror("Sendto failed"); | ||
| 796 | - break; | ||
| 797 | - } | ||
| 798 | - } | ||
| 799 | - | ||
| 800 | - usleep(1000 * 34); | ||
| 801 | - av_packet_unref(&packet); | ||
| 802 | - } | ||
| 803 | - | ||
| 804 | - // 写入文件尾部 | ||
| 805 | - av_write_trailer(output_format_ctx); | ||
| 806 | - | ||
| 807 | - // 清理资源 | ||
| 808 | - close(sockfd); | ||
| 809 | - avcodec_free_context(&codec_ctx); | ||
| 810 | - avformat_close_input(&input_format_ctx); | ||
| 811 | - avformat_free_context(output_format_ctx); | ||
| 812 | - | ||
| 813 | - return 0; | ||
| 814 | -} | ||
| 815 | - | ||
| 816 | - | ||
| 817 | -#include <stdio.h> | ||
| 818 | -#include <stdlib.h> | ||
| 819 | -#include <string.h> | ||
| 820 | -#include <unistd.h> | ||
| 821 | -#include <arpa/inet.h> | ||
| 822 | - | ||
| 823 | -#define TARGET_IP "127.0.0.1" | ||
| 824 | -#define TARGET_PORT 9600 | ||
| 825 | -#define TS_PACKET_SIZE 1314 | ||
| 826 | - | ||
| 827 | -// 初始化Socket | ||
| 828 | -int init_socket(const char *ip, int port) { | ||
| 829 | - int sockfd = socket(AF_INET, SOCK_DGRAM, 0); | ||
| 830 | - if (sockfd < 0) { | ||
| 831 | - perror("Socket creation failed"); | ||
| 832 | - exit(EXIT_FAILURE); | ||
| 833 | - } | ||
| 834 | - | ||
| 835 | - struct sockaddr_in server_addr; | ||
| 836 | - memset(&server_addr, 0, sizeof(server_addr)); | ||
| 837 | - server_addr.sin_family = AF_INET; | ||
| 838 | - server_addr.sin_port = htons(port); | ||
| 839 | - inet_pton(AF_INET, ip, &server_addr.sin_addr); | ||
| 840 | - | ||
| 841 | - if (connect(sockfd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) { | ||
| 842 | - perror("Socket connect failed"); | ||
| 843 | - close(sockfd); | ||
| 844 | - exit(EXIT_FAILURE); | ||
| 845 | - } | ||
| 846 | - | ||
| 847 | - return sockfd; | ||
| 848 | -} | ||
| 849 | - | ||
| 850 | -// 推送TS包 | ||
| 851 | -void send_ts_packet(int sockfd, uint8_t *packet, int size) { | ||
| 852 | - if (send(sockfd, packet, size, 0) < 0) { | ||
| 853 | - perror("Send failed"); | ||
| 854 | - } | ||
| 855 | -} | ||
| 856 | - | ||
| 857 | -void* push_video_stream4(void* arg) | ||
| 858 | -{ | ||
| 859 | - const char *input_file = "/home/levi/Videos/test.mp4";; | ||
| 860 | - | ||
| 861 | - // 初始化FFmpeg | ||
| 862 | - av_register_all(); | ||
| 863 | - avformat_network_init(); | ||
| 864 | - | ||
| 865 | - AVFormatContext *input_ctx = NULL; | ||
| 866 | - if (avformat_open_input(&input_ctx, input_file, NULL, NULL) < 0) { | ||
| 867 | - fprintf(stderr, "Could not open input file: %s\n", input_file); | ||
| 868 | - return -1; | ||
| 869 | - } | ||
| 870 | - | ||
| 871 | - if (avformat_find_stream_info(input_ctx, NULL) < 0) { | ||
| 872 | - fprintf(stderr, "Could not find stream information\n"); | ||
| 873 | - return -1; | ||
| 874 | - } | ||
| 875 | - | ||
| 876 | - // 查找视频流 | ||
| 877 | - int video_stream_index = -1; | ||
| 878 | - for (int i = 0; i < input_ctx->nb_streams; i++) { | ||
| 879 | - if (input_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) { | ||
| 880 | - video_stream_index = i; | ||
| 881 | - break; | ||
| 882 | - } | ||
| 883 | - } | ||
| 884 | - if (video_stream_index == -1) { | ||
| 885 | - fprintf(stderr, "No video stream found\n"); | ||
| 886 | - return -1; | ||
| 887 | - } | ||
| 888 | - | ||
| 889 | - // 初始化输出格式上下文（MPEG-TS） | ||
| 890 | - AVFormatContext *output_ctx = NULL; | ||
| 891 | - avformat_alloc_output_context2(&output_ctx, NULL, "mpegts", NULL); | ||
| 892 | - if (!output_ctx) { | ||
| 893 | - fprintf(stderr, "Could not create output context\n"); | ||
| 894 | - return -1; | ||
| 895 | - } | ||
| 896 | - | ||
| 897 | - // 添加视频流到输出上下文 | ||
| 898 | - AVStream *output_stream = avformat_new_stream(output_ctx, NULL); | ||
| 899 | - if (!output_stream) { | ||
| 900 | - fprintf(stderr, "Could not create output stream\n"); | ||
| 901 | - return -1; | ||
| 902 | - } | ||
| 903 | - avcodec_parameters_copy(output_stream->codecpar, input_ctx->streams[video_stream_index]->codecpar); | ||
| 904 | - output_stream->codecpar->codec_tag = 0; | ||
| 905 | - | ||
| 906 | - // 初始化Socket | ||
| 907 | - int sockfd = init_socket(TARGET_IP, TARGET_PORT); | ||
| 908 | - | ||
| 909 | - // 写入TS流到Socket | ||
| 910 | - AVPacket pkt; | ||
| 911 | - av_init_packet(&pkt); | ||
| 912 | - pkt.data = NULL; | ||
| 913 | - pkt.size = 0; | ||
| 914 | - | ||
| 915 | - while (av_read_frame(input_ctx, &pkt) >= 0) { | ||
| 916 | - if (pkt.stream_index == video_stream_index) { | ||
| 917 | - // 发送TS包 | ||
| 918 | - uint8_t *ts_packet = pkt.data; | ||
| 919 | - int ts_packet_size = pkt.size; | ||
| 920 | - while (ts_packet_size > 0) { | ||
| 921 | - int send_size = (ts_packet_size > TS_PACKET_SIZE) ? TS_PACKET_SIZE : ts_packet_size; | ||
| 922 | - send_ts_packet(sockfd, ts_packet, send_size); | ||
| 923 | - ts_packet += send_size; | ||
| 924 | - ts_packet_size -= send_size; | ||
| 925 | - } | ||
| 926 | - } | ||
| 927 | - usleep(1000 * 34); | ||
| 928 | - av_packet_unref(&pkt); | ||
| 929 | - } | ||
| 930 | - | ||
| 931 | - // 清理资源 | ||
| 932 | - avformat_close_input(&input_ctx); | ||
| 933 | - avformat_free_context(output_ctx); | ||
| 934 | - close(sockfd); | ||
| 935 | - | ||
| 936 | - return 0; | ||
| 937 | -} | ||
| 938 | - | ||
| 939 | - | ||
| 940 | -#include <stdio.h> | ||
| 941 | -#include <stdlib.h> | ||
| 942 | -#include <string.h> | ||
| 943 | -#include <unistd.h> | ||
| 944 | -#include <libavformat/avformat.h> | ||
| 945 | -#include <libavcodec/avcodec.h> | ||
| 946 | -#include <libavutil/opt.h> | ||
| 947 | - | ||
| 948 | -#define OUTPUT_UDP "udp://127.0.0.1:9600" | ||
| 949 | -#define INPUT_FILE "/home/levi/Videos/test.mp4" | ||
| 950 | - | ||
| 951 | -void* push_video_stream5(void* arg) | ||
| 952 | -{ | ||
| 953 | - avformat_network_init(); | ||
| 954 | - | ||
| 955 | - // 打开输入 MP4 文件 | ||
| 956 | - AVFormatContext *input_fmt_ctx = NULL; | ||
| 957 | - if (avformat_open_input(&input_fmt_ctx, INPUT_FILE, NULL, NULL) < 0) { | ||
| 958 | - fprintf(stderr, "Could not open input file '%s'\n", INPUT_FILE); | ||
| 959 | - return -1; | ||
| 960 | - } | ||
| 961 | - | ||
| 962 | - if (avformat_find_stream_info(input_fmt_ctx, NULL) < 0) { | ||
| 963 | - fprintf(stderr, "Could not find stream information\n"); | ||
| 964 | - return -1; | ||
| 965 | - } | ||
| 966 | - | ||
| 967 | - // 查找视频流 | ||
| 968 | - int video_stream_index = -1; | ||
| 969 | - AVCodecContext *video_codec_ctx = NULL; | ||
| 970 | - for (int i = 0; i < input_fmt_ctx->nb_streams; i++) { | ||
| 971 | - if (input_fmt_ctx->streams[i]->codecpar->codec_id == AV_CODEC_ID_H264) { | ||
| 972 | - video_stream_index = i; | ||
| 973 | - video_codec_ctx = avcodec_alloc_context3(NULL); | ||
| 974 | - avcodec_parameters_to_context(video_codec_ctx, input_fmt_ctx->streams[i]->codecpar); | ||
| 975 | - break; | ||
| 976 | - } | ||
| 977 | - } | ||
| 978 | - | ||
| 979 | - if (video_stream_index == -1) { | ||
| 980 | - fprintf(stderr, "No H.264 video stream found\n"); | ||
| 981 | - return -1; | ||
| 982 | - } | ||
| 983 | - | ||
| 984 | - // 打开解码器 | ||
| 985 | - AVCodec *video_codec = avcodec_find_decoder(video_codec_ctx->codec_id); | ||
| 986 | - if (avcodec_open2(video_codec_ctx, video_codec, NULL) < 0) { | ||
| 987 | - fprintf(stderr, "Could not open codec\n"); | ||
| 988 | - return -1; | ||
| 989 | - } | ||
| 990 | - | ||
| 991 | - // 创建输出 UDP 流 | ||
| 992 | - AVFormatContext *output_fmt_ctx = NULL; | ||
| 993 | - if (avformat_alloc_output_context2(&output_fmt_ctx, NULL, "mpegts", OUTPUT_UDP) < 0) { | ||
| 994 | - fprintf(stderr, "Could not create output context\n"); | ||
| 995 | - return -1; | ||
| 996 | - } | ||
| 997 | - | ||
| 998 | - // 创建视频流 | ||
| 999 | - AVStream *out_stream = avformat_new_stream(output_fmt_ctx, video_codec); | ||
| 1000 | - if (!out_stream) { | ||
| 1001 | - fprintf(stderr, "Failed to create new stream\n"); | ||
| 1002 | - return -1; | ||
| 1003 | - } | ||
| 1004 | - | ||
| 1005 | - // 使用复制的参数配置输出流 | ||
| 1006 | - if (avcodec_parameters_copy(out_stream->codecpar, input_fmt_ctx->streams[video_stream_index]->codecpar) < 0) { | ||
| 1007 | - fprintf(stderr, "Failed to copy codec parameters\n"); | ||
| 1008 | - return -1; | ||
| 1009 | - } | ||
| 1010 | - | ||
| 1011 | - // 打开输出流 | ||
| 1012 | - if (!(output_fmt_ctx->oformat->flags & AVFMT_NOFILE)) { | ||
| 1013 | - if (avio_open(&output_fmt_ctx->pb, OUTPUT_UDP, AVIO_FLAG_WRITE) < 0) { | ||
| 1014 | - fprintf(stderr, "Could not open output file\n"); | ||
| 1015 | - return -1; | ||
| 1016 | - } | ||
| 1017 | - } | ||
| 1018 | - | ||
| 1019 | - // 写入文件头 | ||
| 1020 | - if (avformat_write_header(output_fmt_ctx, NULL) < 0) { | ||
| 1021 | - fprintf(stderr, "Error occurred when opening output file\n"); | ||
| 1022 | - return -1; | ||
| 1023 | - } | ||
| 1024 | - | ||
| 1025 | - // 读取数据包并转发到 UDP | ||
| 1026 | - AVPacket packet; | ||
| 1027 | - while (1) { | ||
| 1028 | - if (av_read_frame(input_fmt_ctx, &packet) < 0) { | ||
| 1029 | - break; // 读取完毕 | ||
| 1030 | - } | ||
| 1031 | - | ||
| 1032 | - // 如果是视频流，直接转发 | ||
| 1033 | - if (packet.stream_index == video_stream_index) { | ||
| 1034 | - // 复制数据包并推送到 UDP | ||
| 1035 | - if (av_interleaved_write_frame(output_fmt_ctx, &packet) < 0) { | ||
| 1036 | - fprintf(stderr, "Error while writing packet\n"); | ||
| 1037 | - break; | ||
| 1038 | - } | ||
| 1039 | - usleep(1000 * 34); | ||
| 1040 | - } | ||
| 1041 | - // | ||
| 1042 | - // 释放包内存 | ||
| 1043 | - av_packet_unref(&packet); | ||
| 1044 | - } | ||
| 1045 | - | ||
| 1046 | - // 写入文件尾并关闭 | ||
| 1047 | - av_write_trailer(output_fmt_ctx); | ||
| 1048 | - avcodec_free_context(&video_codec_ctx); | ||
| 1049 | - avformat_close_input(&input_fmt_ctx); | ||
| 1050 | - avformat_free_context(output_fmt_ctx); | ||
| 1051 | - | ||
| 1052 | - return 0; | ||
| 1053 | -} | ||
| 1054 | - | ||
| 1055 | - | ||
| 1056 | -#include <stdio.h> | ||
| 1057 | -#include <stdlib.h> | ||
| 1058 | -#include <string.h> | ||
| 1059 | -#include <unistd.h> | ||
| 1060 | -#include <arpa/inet.h> | ||
| 1061 | -#include <libavformat/avformat.h> | ||
| 1062 | -#include <libavcodec/avcodec.h> | ||
| 1063 | -#include <libavutil/opt.h> | ||
| 1064 | - | ||
| 1065 | -#define MAX_PACKET_SIZE 1316 // UDP 最大数据包大小（1500字节的MTU减去头部） | ||
| 1066 | -#define PAYLOAD_HEADER_SIZE 4 // 假设我们需要4字节来存储包的序号或其他信息 | ||
| 1067 | - | ||
| 1068 | -// 发送视频流数据到UDP | ||
| 1069 | -int SendVideoStream(const uint8_t *data, uint16_t len, int sockfd, struct sockaddr_in *dest_addr) { | ||
| 1070 | - // 将数据分片并发送 | ||
| 1071 | - int remaining = len; | ||
| 1072 | - int offset = 0; | ||
| 1073 | - while (remaining > 0) { | ||
| 1074 | - int size_to_send = (remaining > (MAX_PACKET_SIZE - PAYLOAD_HEADER_SIZE)) ? (MAX_PACKET_SIZE - PAYLOAD_HEADER_SIZE) : remaining; | ||
| 1075 | - | ||
| 1076 | - // 为每个数据包添加头部信息（例如，偏移量） | ||
| 1077 | - uint8_t *packet_data = malloc(PAYLOAD_HEADER_SIZE + size_to_send); | ||
| 1078 | - if (!packet_data) { | ||
| 1079 | - perror("Failed to allocate memory for packet fragment"); | ||
| 1080 | - return -1; | ||
| 1081 | - } | ||
| 1082 | - | ||
| 1083 | - // 在包头附加偏移量或序号（简单示例） | ||
| 1084 | - *(int*)packet_data = offset; // 偏移量作为示例 | ||
| 1085 | - memcpy(packet_data + PAYLOAD_HEADER_SIZE, data + offset, size_to_send); | ||
| 1086 | - | ||
| 1087 | - // 发送数据包 | ||
| 1088 | - ssize_t sent_len = sendto(sockfd, packet_data, PAYLOAD_HEADER_SIZE + size_to_send, 0, (struct sockaddr*)dest_addr, sizeof(*dest_addr)); | ||
| 1089 | - if (sent_len < 0) { | ||
| 1090 | - perror("Failed to send UDP packet"); | ||
| 1091 | - free(packet_data); | ||
| 1092 | - return -1; | ||
| 1093 | - } | ||
| 1094 | - | ||
| 1095 | - printf("send len %d\n", sent_len); | ||
| 1096 | - | ||
| 1097 | - // 更新状态 | ||
| 1098 | - remaining -= size_to_send; | ||
| 1099 | - offset += size_to_send; | ||
| 1100 | - free(packet_data); // 释放已发送的数据包 | ||
| 1101 | - } | ||
| 1102 | - | ||
| 1103 | - return 0; | ||
| 1104 | -} | ||
| 1105 | - | ||
| 1106 | -void* push_video_stream6(void* arg) | ||
| 1107 | -{ | ||
| 1108 | - avformat_network_init(); | ||
| 1109 | - | ||
| 1110 | - // 打开输入 MP4 文件 | ||
| 1111 | - AVFormatContext *input_fmt_ctx = NULL; | ||
| 1112 | - if (avformat_open_input(&input_fmt_ctx, INPUT_FILE, NULL, NULL) < 0) { | ||
| 1113 | - fprintf(stderr, "Could not open input file '%s'\n", INPUT_FILE); | ||
| 1114 | - return -1; | ||
| 1115 | - } | ||
| 1116 | - | ||
| 1117 | - if (avformat_find_stream_info(input_fmt_ctx, NULL) < 0) { | ||
| 1118 | - fprintf(stderr, "Could not find stream information\n"); | ||
| 1119 | - return -1; | ||
| 1120 | - } | ||
| 1121 | - | ||
| 1122 | - // 查找视频流 | ||
| 1123 | - int video_stream_index = -1; | ||
| 1124 | - AVCodecContext *video_codec_ctx = NULL; | ||
| 1125 | - for (int i = 0; i < input_fmt_ctx->nb_streams; i++) { | ||
| 1126 | - if (input_fmt_ctx->streams[i]->codecpar->codec_id == AV_CODEC_ID_H264) { | ||
| 1127 | - video_stream_index = i; | ||
| 1128 | - video_codec_ctx = avcodec_alloc_context3(NULL); | ||
| 1129 | - avcodec_parameters_to_context(video_codec_ctx, input_fmt_ctx->streams[i]->codecpar); | ||
| 1130 | - break; | ||
| 1131 | - } | ||
| 1132 | - } | ||
| 1133 | - | ||
| 1134 | - if (video_stream_index == -1) { | ||
| 1135 | - fprintf(stderr, "No H.264 video stream found\n"); | ||
| 1136 | - return -1; | ||
| 1137 | - } | ||
| 1138 | - | ||
| 1139 | - // 打开解码器 | ||
| 1140 | - AVCodec *video_codec = avcodec_find_decoder(video_codec_ctx->codec_id); | ||
| 1141 | - if (avcodec_open2(video_codec_ctx, video_codec, NULL) < 0) { | ||
| 1142 | - fprintf(stderr, "Could not open codec\n"); | ||
| 1143 | - return -1; | ||
| 1144 | - } | ||
| 1145 | - | ||
| 1146 | - // 创建 UDP 套接字 | ||
| 1147 | - int sockfd; | ||
| 1148 | - struct sockaddr_in dest_addr; | ||
| 1149 | - sockfd = socket(AF_INET, SOCK_DGRAM, 0); | ||
| 1150 | - if (sockfd < 0) { | ||
| 1151 | - perror("Socket creation failed"); | ||
| 1152 | - return -1; | ||
| 1153 | - } | ||
| 1154 | - | ||
| 1155 | - memset(&dest_addr, 0, sizeof(dest_addr)); | ||
| 1156 | - dest_addr.sin_family = AF_INET; | ||
| 1157 | - dest_addr.sin_port = htons(9600); // 目标端口 | ||
| 1158 | - if (inet_pton(AF_INET, "127.0.0.1", &dest_addr.sin_addr) <= 0) { | ||
| 1159 | - perror("Invalid address"); | ||
| 1160 | - return -1; | ||
| 1161 | - } | ||
| 1162 | - | ||
| 1163 | - // 读取数据包并推送到 UDP | ||
| 1164 | - AVPacket packet; | ||
| 1165 | - while (1) { | ||
| 1166 | - if (av_read_frame(input_fmt_ctx, &packet) < 0) { | ||
| 1167 | - break; // 读取完毕 | ||
| 1168 | - } | ||
| 1169 | - | ||
| 1170 | - // 如果是视频流，推送到 UDP | ||
| 1171 | - if (packet.stream_index == video_stream_index) { | ||
| 1172 | - // 使用 ZiyanPayloadCamera_SendVideoStream 发送数据 | ||
| 1173 | - if (SendVideoStream(packet.data, packet.size, sockfd, &dest_addr) < 0) { | ||
| 1174 | - fprintf(stderr, "Error sending packet\n"); | ||
| 1175 | - break; | ||
| 1176 | - } | ||
| 1177 | - | ||
| 1178 | - usleep(1000 * 33); | ||
| 1179 | - } | ||
| 1180 | - | ||
| 1181 | - // 释放包内存 | ||
| 1182 | - av_packet_unref(&packet); | ||
| 1183 | - } | ||
| 1184 | - | ||
| 1185 | - // 清理 | ||
| 1186 | - close(sockfd); | ||
| 1187 | - avcodec_free_context(&video_codec_ctx); | ||
| 1188 | - avformat_close_input(&input_fmt_ctx); | ||
| 1189 | - | ||
| 1190 | - return 0; | ||
| 1191 | -} | ||
| 1192 | - | ||
| 1193 | -#include <libavformat/avformat.h> | ||
| 1194 | -#include <libavcodec/avcodec.h> | ||
| 1195 | -#include <libavutil/opt.h> | ||
| 1196 | -#include <libavdevice/avdevice.h> | ||
| 1197 | -#include <stdio.h> | ||
| 1198 | -#include <stdlib.h> | ||
| 1199 | -#include <string.h> | ||
| 1200 | -#include <unistd.h> | ||
| 1201 | -#include <netinet/in.h> | ||
| 1202 | -#include <arpa/inet.h> // 引入该头文件 | ||
| 1203 | - | ||
| 1204 | -#define STREAM_PORT 9600 | ||
| 1205 | -#define STREAM_ADDR "127.0.0.1" | ||
| 1206 | - | ||
| 1207 | -void* push_video_stream7(void* arg) | ||
| 1208 | -{ | ||
| 1209 | - av_register_all(); | ||
| 1210 | - avformat_network_init(); | ||
| 1211 | - | ||
| 1212 | - // Input file path | ||
| 1213 | - char *input_file = "/home/levi/Videos/test.mp4"; // Replace with your input file | ||
| 1214 | - | ||
| 1215 | - AVFormatContext *input_format_context = NULL; | ||
| 1216 | - AVCodecContext *codec_context = NULL; | ||
| 1217 | - AVCodec *codec = NULL; | ||
| 1218 | - AVPacket packet; | ||
| 1219 | - | ||
| 1220 | - // Open the input MP4 file | ||
| 1221 | - if (avformat_open_input(&input_format_context, input_file, NULL, NULL) < 0) { | ||
| 1222 | - fprintf(stderr, "Error opening input file\n"); | ||
| 1223 | - return -1; | ||
| 1224 | - } | ||
| 1225 | - | ||
| 1226 | - if (avformat_find_stream_info(input_format_context, NULL) < 0) { | ||
| 1227 | - fprintf(stderr, "Error finding stream info\n"); | ||
| 1228 | - return -1; | ||
| 1229 | - } | ||
| 1230 | - | ||
| 1231 | - // Find the video stream | ||
| 1232 | - int stream_index = -1; | ||
| 1233 | - for (int i = 0; i < input_format_context->nb_streams; i++) { | ||
| 1234 | - if (input_format_context->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) { | ||
| 1235 | - stream_index = i; | ||
| 1236 | - break; | ||
| 1237 | - } | ||
| 1238 | - } | ||
| 1239 | - | ||
| 1240 | - if (stream_index == -1) { | ||
| 1241 | - fprintf(stderr, "No video stream found\n"); | ||
| 1242 | - return -1; | ||
| 1243 | - } | ||
| 1244 | - | ||
| 1245 | - AVStream *video_stream = input_format_context->streams[stream_index]; | ||
| 1246 | - codec = avcodec_find_decoder(video_stream->codecpar->codec_id); | ||
| 1247 | - if (!codec) { | ||
| 1248 | - fprintf(stderr, "Codec not found\n"); | ||
| 1249 | - return -1; | ||
| 1250 | - } | ||
| 1251 | - | ||
| 1252 | - codec_context = avcodec_alloc_context3(codec); | ||
| 1253 | - if (!codec_context) { | ||
| 1254 | - fprintf(stderr, "Could not allocate codec context\n"); | ||
| 1255 | - return -1; | ||
| 1256 | - } | ||
| 1257 | - | ||
| 1258 | - if (avcodec_parameters_to_context(codec_context, video_stream->codecpar) < 0) { | ||
| 1259 | - fprintf(stderr, "Failed to copy codec parameters to context\n"); | ||
| 1260 | - return -1; | ||
| 1261 | - } | ||
| 1262 | - | ||
| 1263 | - if (avcodec_open2(codec_context, codec, NULL) < 0) { | ||
| 1264 | - fprintf(stderr, "Error opening codec\n"); | ||
| 1265 | - return -1; | ||
| 1266 | - } | ||
| 1267 | - | ||
| 1268 | - // UDP socket setup for RTP | ||
| 1269 | - int sockfd = socket(AF_INET, SOCK_DGRAM, 0); | ||
| 1270 | - if (sockfd < 0) { | ||
| 1271 | - perror("Error opening UDP socket"); | ||
| 1272 | - return -1; | ||
| 1273 | - } | ||
| 1274 | - | ||
| 1275 | - struct sockaddr_in dest_addr; | ||
| 1276 | - memset(&dest_addr, 0, sizeof(dest_addr)); | ||
| 1277 | - dest_addr.sin_family = AF_INET; | ||
| 1278 | - dest_addr.sin_port = htons(STREAM_PORT); | ||
| 1279 | - | ||
| 1280 | - // 使用 inet_pton 替换 inet_addr | ||
| 1281 | - if (inet_pton(AF_INET, STREAM_ADDR, &dest_addr.sin_addr) <= 0) { | ||
| 1282 | - perror("Invalid address/Address not supported"); | ||
| 1283 | - return -1; | ||
| 1284 | - } | ||
| 1285 | - | ||
| 1286 | - // Initialize packet structure | ||
| 1287 | - av_init_packet(&packet); | ||
| 1288 | - packet.data = NULL; | ||
| 1289 | - packet.size = 0; | ||
| 1290 | - | ||
| 1291 | - // Start reading and sending packets | ||
| 1292 | - while (av_read_frame(input_format_context, &packet) >= 0) { | ||
| 1293 | - if (packet.stream_index == stream_index) { | ||
| 1294 | - // Send H.264 stream as RTP packet | ||
| 1295 | - if (sendto(sockfd, packet.data, packet.size, 0, (struct sockaddr *)&dest_addr, sizeof(dest_addr)) < 0) { | ||
| 1296 | - perror("Error sending RTP packet"); | ||
| 1297 | - return -1; | ||
| 1298 | - } | ||
| 1299 | - } | ||
| 1300 | - | ||
| 1301 | - av_packet_unref(&packet); | ||
| 1302 | - } | ||
| 1303 | - | ||
| 1304 | - // Clean up and close the socket | ||
| 1305 | - close(sockfd); | ||
| 1306 | - avcodec_free_context(&codec_context); | ||
| 1307 | - avformat_close_input(&input_format_context); | ||
| 1308 | - | ||
| 1309 | - return 0; | ||
| 1310 | -} | ||
| 1311 | - | ||
| 1312 | 184 | ||
| 185 | +#ifdef FFMPEG_INSTALLED | ||
| 1313 | #include <libavformat/avformat.h> | 186 | #include <libavformat/avformat.h> |
| 1314 | #include <libavcodec/avcodec.h> | 187 | #include <libavcodec/avcodec.h> |
| 1315 | #include <libavutil/opt.h> | 188 | #include <libavutil/opt.h> |
| 1316 | #include <libavutil/avutil.h> | 189 | #include <libavutil/avutil.h> |
| 1317 | -#include <libavdevice/avdevice.h> | ||
| 1318 | #include <stdio.h> | 190 | #include <stdio.h> |
| 1319 | #include <stdlib.h> | 191 | #include <stdlib.h> |
| 1320 | #include <string.h> | 192 | #include <string.h> |
| @@ -1325,15 +197,17 @@ void* push_video_stream7(void* arg) | @@ -1325,15 +197,17 @@ void* push_video_stream7(void* arg) | ||
| 1325 | #define STREAM_PORT 9600 | 197 | #define STREAM_PORT 9600 |
| 1326 | #define STREAM_ADDR "127.0.0.1" | 198 | #define STREAM_ADDR "127.0.0.1" |
| 1327 | #define INPUT_FILE "/home/levi/Videos/test.h264" // Replace with your actual video file path | 199 | #define INPUT_FILE "/home/levi/Videos/test.h264" // Replace with your actual video file path |
| 200 | +#define INPUT_FILE2 "test.h264" | ||
| 201 | + | ||
| 202 | +#endif | ||
| 1328 | 203 | ||
| 1329 | void* push_video_stream8(void* arg) | 204 | void* push_video_stream8(void* arg) |
| 1330 | { | 205 | { |
| 1331 | - | ||
| 1332 | - | 206 | +#if defined(FFMPEG_INSTALLED) && (LIBAVFORMAT_VERSION_MAJOR >= 57) |
| 1333 | while(1){ | 207 | while(1){ |
| 1334 | 208 | ||
| 1335 | // Initialize FFmpeg libraries | 209 | // Initialize FFmpeg libraries |
| 1336 | - av_register_all(); | 210 | + // av_register_all(); |
| 1337 | avformat_network_init(); | 211 | avformat_network_init(); |
| 1338 | 212 | ||
| 1339 | AVFormatContext *input_format_context = NULL; | 213 | AVFormatContext *input_format_context = NULL; |
| @@ -1341,18 +215,34 @@ void* push_video_stream8(void* arg) | @@ -1341,18 +215,34 @@ void* push_video_stream8(void* arg) | ||
| 1341 | AVCodec *codec = NULL; | 215 | AVCodec *codec = NULL; |
| 1342 | AVPacket packet; | 216 | AVPacket packet; |
| 1343 | 217 | ||
| 1344 | - printf("input file: %s\n", INPUT_FILE); | 218 | + char cwd[256] = {0}; |
| 219 | + char file_path[256] = {0}; | ||
| 220 | + getcwd(cwd, sizeof(cwd)); | ||
| 221 | + sprintf(file_path, "%s/%s", cwd, INPUT_FILE2); | ||
| 222 | + | ||
| 223 | + | ||
| 224 | + char input_file[256] = {0}; | ||
| 225 | + | ||
| 226 | + if (access(file_path, F_OK) == 0) { | ||
| 227 | + memcpy(input_file, file_path, strlen(file_path)); | ||
| 228 | + USER_LOG_INFO("select: %s", file_path); | ||
| 229 | + } else { | ||
| 230 | + memcpy(input_file, INPUT_FILE, strlen(INPUT_FILE)); | ||
| 231 | + USER_LOG_INFO("select: %s", INPUT_FILE); | ||
| 232 | + } | ||
| 233 | + | ||
| 234 | + USER_LOG_INFO("input file: %s", input_file); | ||
| 1345 | 235 | ||
| 1346 | // Open the input MP4 file | 236 | // Open the input MP4 file |
| 1347 | - if (avformat_open_input(&input_format_context, INPUT_FILE, NULL, NULL) < 0) { | 237 | + if (avformat_open_input(&input_format_context, input_file, NULL, NULL) < 0) { |
| 1348 | fprintf(stderr, "Error opening input file\n"); | 238 | fprintf(stderr, "Error opening input file\n"); |
| 1349 | - return -1; | 239 | + return NULL; |
| 1350 | } | 240 | } |
| 1351 | 241 | ||
| 1352 | // Retrieve stream information | 242 | // Retrieve stream information |
| 1353 | if (avformat_find_stream_info(input_format_context, NULL) < 0) { | 243 | if (avformat_find_stream_info(input_format_context, NULL) < 0) { |
| 1354 | fprintf(stderr, "Error finding stream info\n"); | 244 | fprintf(stderr, "Error finding stream info\n"); |
| 1355 | - return -1; | 245 | + return NULL; |
| 1356 | } | 246 | } |
| 1357 | 247 | ||
| 1358 | // Find the video stream | 248 | // Find the video stream |
| @@ -1366,7 +256,7 @@ void* push_video_stream8(void* arg) | @@ -1366,7 +256,7 @@ void* push_video_stream8(void* arg) | ||
| 1366 | 256 | ||
| 1367 | if (video_stream_index == -1) { | 257 | if (video_stream_index == -1) { |
| 1368 | fprintf(stderr, "Video stream not found\n"); | 258 | fprintf(stderr, "Video stream not found\n"); |
| 1369 | - return -1; | 259 | + return NULL; |
| 1370 | } | 260 | } |
| 1371 | 261 | ||
| 1372 | // Find the decoder for the video stream | 262 | // Find the decoder for the video stream |
| @@ -1374,23 +264,23 @@ void* push_video_stream8(void* arg) | @@ -1374,23 +264,23 @@ void* push_video_stream8(void* arg) | ||
| 1374 | codec = avcodec_find_decoder(video_stream->codecpar->codec_id); | 264 | codec = avcodec_find_decoder(video_stream->codecpar->codec_id); |
| 1375 | if (!codec) { | 265 | if (!codec) { |
| 1376 | fprintf(stderr, "Codec not found\n"); | 266 | fprintf(stderr, "Codec not found\n"); |
| 1377 | - return -1; | 267 | + return NULL; |
| 1378 | } | 268 | } |
| 1379 | 269 | ||
| 1380 | codec_context = avcodec_alloc_context3(codec); | 270 | codec_context = avcodec_alloc_context3(codec); |
| 1381 | if (!codec_context) { | 271 | if (!codec_context) { |
| 1382 | fprintf(stderr, "Could not allocate codec context\n"); | 272 | fprintf(stderr, "Could not allocate codec context\n"); |
| 1383 | - return -1; | 273 | + return NULL; |
| 1384 | } | 274 | } |
| 1385 | 275 | ||
| 1386 | if (avcodec_parameters_to_context(codec_context, video_stream->codecpar) < 0) { | 276 | if (avcodec_parameters_to_context(codec_context, video_stream->codecpar) < 0) { |
| 1387 | fprintf(stderr, "Failed to copy codec parameters to context\n"); | 277 | fprintf(stderr, "Failed to copy codec parameters to context\n"); |
| 1388 | - return -1; | 278 | + return NULL; |
| 1389 | } | 279 | } |
| 1390 | 280 | ||
| 1391 | if (avcodec_open2(codec_context, codec, NULL) < 0) { | 281 | if (avcodec_open2(codec_context, codec, NULL) < 0) { |
| 1392 | fprintf(stderr, "Error opening codec\n"); | 282 | fprintf(stderr, "Error opening codec\n"); |
| 1393 | - return -1; | 283 | + return NULL; |
| 1394 | } | 284 | } |
| 1395 | 285 | ||
| 1396 | // Initialize packet structure | 286 | // Initialize packet structure |
| @@ -1416,320 +306,11 @@ void* push_video_stream8(void* arg) | @@ -1416,320 +306,11 @@ void* push_video_stream8(void* arg) | ||
| 1416 | avformat_close_input(&input_format_context); | 306 | avformat_close_input(&input_format_context); |
| 1417 | } | 307 | } |
| 1418 | 308 | ||
| 309 | +#endif | ||
| 1419 | return 0; | 310 | return 0; |
| 1420 | } | 311 | } |
| 1421 | 312 | ||
| 1422 | 313 | ||
| 1423 | -#include <libavformat/avformat.h> | ||
| 1424 | -#include <libavcodec/avcodec.h> | ||
| 1425 | -#include <libavutil/opt.h> | ||
| 1426 | -#include <libavutil/avutil.h> | ||
| 1427 | -#include <libavdevice/avdevice.h> | ||
| 1428 | -#include <stdio.h> | ||
| 1429 | -#include <stdlib.h> | ||
| 1430 | -#include <string.h> | ||
| 1431 | -#include <unistd.h> | ||
| 1432 | -#include <netinet/in.h> | ||
| 1433 | -#include <arpa/inet.h> | ||
| 1434 | - | ||
| 1435 | - | ||
| 1436 | -void* push_video_stream9(void* arg) | ||
| 1437 | -{ | ||
| 1438 | - // Initialize FFmpeg libraries | ||
| 1439 | - av_register_all(); | ||
| 1440 | - avformat_network_init(); | ||
| 1441 | - | ||
| 1442 | - AVFormatContext *input_format_context = NULL; | ||
| 1443 | - AVCodecContext *codec_context = NULL; | ||
| 1444 | - AVCodec *codec = NULL; | ||
| 1445 | - AVPacket packet; | ||
| 1446 | - | ||
| 1447 | - printf("input file: %s\n", INPUT_FILE); | ||
| 1448 | - | ||
| 1449 | - // Open the input H.264 file | ||
| 1450 | - if (avformat_open_input(&input_format_context, INPUT_FILE, NULL, NULL) < 0) { | ||
| 1451 | - fprintf(stderr, "Error opening input file\n"); | ||
| 1452 | - return -1; | ||
| 1453 | - } | ||
| 1454 | - | ||
| 1455 | - // Retrieve stream information | ||
| 1456 | - if (avformat_find_stream_info(input_format_context, NULL) < 0) { | ||
| 1457 | - fprintf(stderr, "Error finding stream info\n"); | ||
| 1458 | - return -1; | ||
| 1459 | - } | ||
| 1460 | - | ||
| 1461 | - // Find the video stream | ||
| 1462 | - int video_stream_index = -1; | ||
| 1463 | - for (int i = 0; i < input_format_context->nb_streams; i++) { | ||
| 1464 | - if (input_format_context->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) { | ||
| 1465 | - video_stream_index = i; | ||
| 1466 | - break; | ||
| 1467 | - } | ||
| 1468 | - } | ||
| 1469 | - | ||
| 1470 | - if (video_stream_index == -1) { | ||
| 1471 | - fprintf(stderr, "Video stream not found\n"); | ||
| 1472 | - return -1; | ||
| 1473 | - } | ||
| 1474 | - | ||
| 1475 | - // Find the decoder for the video stream | ||
| 1476 | - AVStream *video_stream = input_format_context->streams[video_stream_index]; | ||
| 1477 | - codec = avcodec_find_decoder(video_stream->codecpar->codec_id); | ||
| 1478 | - if (!codec) { | ||
| 1479 | - fprintf(stderr, "Codec not found\n"); | ||
| 1480 | - return -1; | ||
| 1481 | - } | ||
| 1482 | - | ||
| 1483 | - codec_context = avcodec_alloc_context3(codec); | ||
| 1484 | - if (!codec_context) { | ||
| 1485 | - fprintf(stderr, "Could not allocate codec context\n"); | ||
| 1486 | - return -1; | ||
| 1487 | - } | ||
| 1488 | - | ||
| 1489 | - if (avcodec_parameters_to_context(codec_context, video_stream->codecpar) < 0) { | ||
| 1490 | - fprintf(stderr, "Failed to copy codec parameters to context\n"); | ||
| 1491 | - return -1; | ||
| 1492 | - } | ||
| 1493 | - | ||
| 1494 | - if (avcodec_open2(codec_context, codec, NULL) < 0) { | ||
| 1495 | - fprintf(stderr, "Error opening codec\n"); | ||
| 1496 | - return -1; | ||
| 1497 | - } | ||
| 1498 | - | ||
| 1499 | - // TCP socket setup | ||
| 1500 | - int sockfd = socket(AF_INET, SOCK_STREAM, 0); | ||
| 1501 | - if (sockfd < 0) { | ||
| 1502 | - perror("Error opening TCP socket"); | ||
| 1503 | - return -1; | ||
| 1504 | - } | ||
| 1505 | - | ||
| 1506 | - struct sockaddr_in server_addr; | ||
| 1507 | - memset(&server_addr, 0, sizeof(server_addr)); | ||
| 1508 | - server_addr.sin_family = AF_INET; | ||
| 1509 | - server_addr.sin_port = htons(STREAM_PORT); | ||
| 1510 | - server_addr.sin_addr.s_addr = INADDR_ANY; | ||
| 1511 | - | ||
| 1512 | - // Bind the socket to the address and port | ||
| 1513 | - if (bind(sockfd, (struct sockaddr*)&server_addr, sizeof(server_addr)) < 0) { | ||
| 1514 | - perror("Error binding socket"); | ||
| 1515 | - return -1; | ||
| 1516 | - } | ||
| 1517 | - | ||
| 1518 | - // Listen for incoming connections | ||
| 1519 | - if (listen(sockfd, 1) < 0) { | ||
| 1520 | - perror("Error listening for connections"); | ||
| 1521 | - return -1; | ||
| 1522 | - } | ||
| 1523 | - | ||
| 1524 | - printf("Waiting for client connection...\n"); | ||
| 1525 | - | ||
| 1526 | - // Accept client connection | ||
| 1527 | - int client_sockfd = accept(sockfd, NULL, NULL); | ||
| 1528 | - if (client_sockfd < 0) { | ||
| 1529 | - perror("Error accepting client connection"); | ||
| 1530 | - return -1; | ||
| 1531 | - } | ||
| 1532 | - | ||
| 1533 | - printf("Client connected, sending video stream...\n"); | ||
| 1534 | - | ||
| 1535 | - // Initialize packet structure | ||
| 1536 | - av_init_packet(&packet); | ||
| 1537 | - packet.data = NULL; | ||
| 1538 | - packet.size = 0; | ||
| 1539 | - | ||
| 1540 | - // Start reading frames and send packets | ||
| 1541 | - while (av_read_frame(input_format_context, &packet) >= 0) { | ||
| 1542 | - if (packet.stream_index == video_stream_index) { | ||
| 1543 | - // Send the H.264 encoded packet to the client over TCP | ||
| 1544 | - if (send(client_sockfd, packet.data, packet.size, 0) < 0) { | ||
| 1545 | - perror("Error sending TCP packet"); | ||
| 1546 | - return -1; | ||
| 1547 | - } | ||
| 1548 | - printf("Sent packet of size %d\n", packet.size); | ||
| 1549 | - usleep(1000 * 30); // simulate 30fps | ||
| 1550 | - } | ||
| 1551 | - | ||
| 1552 | - // Free the packet after sending | ||
| 1553 | - av_packet_unref(&packet); | ||
| 1554 | - } | ||
| 1555 | - | ||
| 1556 | - // Clean up and close | ||
| 1557 | - close(client_sockfd); | ||
| 1558 | - close(sockfd); | ||
| 1559 | - avcodec_free_context(&codec_context); | ||
| 1560 | - avformat_close_input(&input_format_context); | ||
| 1561 | - | ||
| 1562 | - return 0; | ||
| 1563 | -} | ||
| 1564 | - | ||
| 1565 | - | ||
| 1566 | -void* push_video_stream10(void* arg) | ||
| 1567 | -{ | ||
| 1568 | - // Initialize FFmpeg libraries | ||
| 1569 | - av_register_all(); | ||
| 1570 | - avformat_network_init(); | ||
| 1571 | - | ||
| 1572 | - AVFormatContext *input_format_context = NULL; | ||
| 1573 | - AVCodecContext *codec_context = NULL; | ||
| 1574 | - AVCodec *codec = NULL; | ||
| 1575 | - AVPacket packet; | ||
| 1576 | - | ||
| 1577 | - printf("input file: %s\n", INPUT_FILE); | ||
| 1578 | - | ||
| 1579 | - // Open the input H.264 file | ||
| 1580 | - if (avformat_open_input(&input_format_context, INPUT_FILE, NULL, NULL) < 0) { | ||
| 1581 | - fprintf(stderr, "Error opening input file\n"); | ||
| 1582 | - return -1; | ||
| 1583 | - } | ||
| 1584 | - | ||
| 1585 | - // Retrieve stream information | ||
| 1586 | - if (avformat_find_stream_info(input_format_context, NULL) < 0) { | ||
| 1587 | - fprintf(stderr, "Error finding stream info\n"); | ||
| 1588 | - return -1; | ||
| 1589 | - } | ||
| 1590 | - | ||
| 1591 | - // Find the video stream | ||
| 1592 | - int video_stream_index = -1; | ||
| 1593 | - for (int i = 0; i < input_format_context->nb_streams; i++) { | ||
| 1594 | - if (input_format_context->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) { | ||
| 1595 | - video_stream_index = i; | ||
| 1596 | - break; | ||
| 1597 | - } | ||
| 1598 | - } | ||
| 1599 | - | ||
| 1600 | - if (video_stream_index == -1) { | ||
| 1601 | - fprintf(stderr, "Video stream not found\n"); | ||
| 1602 | - return -1; | ||
| 1603 | - } | ||
| 1604 | - | ||
| 1605 | - // Find the decoder for the video stream | ||
| 1606 | - AVStream *video_stream = input_format_context->streams[video_stream_index]; | ||
| 1607 | - codec = avcodec_find_decoder(video_stream->codecpar->codec_id); | ||
| 1608 | - if (!codec) { | ||
| 1609 | - fprintf(stderr, "Codec not found\n"); | ||
| 1610 | - return -1; | ||
| 1611 | - } | ||
| 1612 | - | ||
| 1613 | - codec_context = avcodec_alloc_context3(codec); | ||
| 1614 | - if (!codec_context) { | ||
| 1615 | - fprintf(stderr, "Could not allocate codec context\n"); | ||
| 1616 | - return -1; | ||
| 1617 | - } | ||
| 1618 | - | ||
| 1619 | - if (avcodec_parameters_to_context(codec_context, video_stream->codecpar) < 0) { | ||
| 1620 | - fprintf(stderr, "Failed to copy codec parameters to context\n"); | ||
| 1621 | - return -1; | ||
| 1622 | - } | ||
| 1623 | - | ||
| 1624 | - if (avcodec_open2(codec_context, codec, NULL) < 0) { | ||
| 1625 | - fprintf(stderr, "Error opening codec\n"); | ||
| 1626 | - return -1; | ||
| 1627 | - } | ||
| 1628 | - | ||
| 1629 | - // TCP socket setup | ||
| 1630 | - T_ZiyanSocketHandle socket_handle = NULL; | ||
| 1631 | - T_ZiyanReturnCode result = ZiyanPlatform_GetSocketHandler()->Socket(ZIYAN_SOCKET_MODE_TCP, &socket_handle); | ||
| 1632 | - printf("Socket result: %d\n", result); | ||
| 1633 | - if (result != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 1634 | - perror("Error opening TCP socket"); | ||
| 1635 | - return -1; | ||
| 1636 | - } | ||
| 1637 | - | ||
| 1638 | - // Bind the socket to the address and port | ||
| 1639 | - if (ZiyanPlatform_GetSocketHandler()->Bind(socket_handle, "0.0.0.0", 9600) != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 1640 | - perror("Error binding socket"); | ||
| 1641 | - return -1; | ||
| 1642 | - } | ||
| 1643 | - | ||
| 1644 | - // Listen for incoming connections | ||
| 1645 | - if (ZiyanPlatform_GetSocketHandler()->TcpListen(socket_handle) != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 1646 | - perror("Error listening for connections"); | ||
| 1647 | - return -1; | ||
| 1648 | - } | ||
| 1649 | - | ||
| 1650 | - printf("Waiting for client connection...\n"); | ||
| 1651 | - | ||
| 1652 | - // Accept client connection | ||
| 1653 | - char accept_ip[32] = ""; | ||
| 1654 | - uint32_t accept_port = 0; | ||
| 1655 | - T_ZiyanSocketHandle accept_socket_handle = NULL; | ||
| 1656 | - if (ZiyanPlatform_GetSocketHandler()->TcpAccept(socket_handle, accept_ip, &accept_port, &accept_socket_handle) != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 1657 | - perror("Error accepting client connection"); | ||
| 1658 | - return -1; | ||
| 1659 | - } | ||
| 1660 | - | ||
| 1661 | - printf("Client connected %s:%d, sending video stream...\n", accept_ip, accept_port); | ||
| 1662 | - | ||
| 1663 | - // Initialize packet structure | ||
| 1664 | - av_init_packet(&packet); | ||
| 1665 | - packet.data = NULL; | ||
| 1666 | - packet.size = 0; | ||
| 1667 | - | ||
| 1668 | - // Start reading frames and send packets | ||
| 1669 | - while (av_read_frame(input_format_context, &packet) >= 0) { | ||
| 1670 | - if (packet.stream_index == video_stream_index) { | ||
| 1671 | - // Send the H.264 encoded packet to the client over TCP | ||
| 1672 | - uint32_t real_len = 0; | ||
| 1673 | - if (ZiyanPlatform_GetSocketHandler()->TcpSendData(accept_socket_handle, packet.data, packet.size, &real_len) != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | ||
| 1674 | - perror("Error sending TCP packet"); | ||
| 1675 | - return -1; | ||
| 1676 | - } | ||
| 1677 | - printf("Sent packet of size %d : %d\n", packet.size, real_len); | ||
| 1678 | - usleep(1000 * 30); // simulate 30fps | ||
| 1679 | - } | ||
| 1680 | - | ||
| 1681 | - // Free the packet after sending | ||
| 1682 | - av_packet_unref(&packet); | ||
| 1683 | - } | ||
| 1684 | - | ||
| 1685 | - // Clean up and close | ||
| 1686 | - avcodec_free_context(&codec_context); | ||
| 1687 | - avformat_close_input(&input_format_context); | ||
| 1688 | - | ||
| 1689 | - return 0; | ||
| 1690 | -} | ||
| 1691 | - | ||
| 1692 | - | ||
| 1693 | - | ||
| 1694 | - | ||
| 1695 | - | ||
| 1696 | - | ||
| 1697 | - | ||
| 1698 | - | ||
| 1699 | - | ||
| 1700 | - | ||
| 1701 | - | ||
| 1702 | - | ||
| 1703 | - | ||
| 1704 | -#endif | ||
| 1705 | - | ||
| 1706 | - | ||
| 1707 | -/*****************************************************************************/ | ||
| 1708 | - | ||
| 1709 | - | ||
| 1710 | - | ||
| 1711 | - | ||
| 1712 | - | ||
| 1713 | - | ||
| 1714 | - | ||
| 1715 | - | ||
| 1716 | - | ||
| 1717 | - | ||
| 1718 | - | ||
| 1719 | - | ||
| 1720 | - | ||
| 1721 | - | ||
| 1722 | - | ||
| 1723 | - | ||
| 1724 | - | ||
| 1725 | - | ||
| 1726 | - | ||
| 1727 | - | ||
| 1728 | - | ||
| 1729 | - | ||
| 1730 | - | ||
| 1731 | - | ||
| 1732 | - | ||
| 1733 | 314 | ||
| 1734 | 315 | ||
| 1735 | static T_ZiyanReturnCode GetSystemState(T_ZiyanCameraSystemState *systemState) | 316 | static T_ZiyanReturnCode GetSystemState(T_ZiyanCameraSystemState *systemState) |
| @@ -2900,23 +1481,20 @@ T_ZiyanReturnCode ZiyanTest_CameraEmuBaseStartService(void) | @@ -2900,23 +1481,20 @@ T_ZiyanReturnCode ZiyanTest_CameraEmuBaseStartService(void) | ||
| 2900 | } | 1481 | } |
| 2901 | #endif | 1482 | #endif |
| 2902 | 1483 | ||
| 2903 | - s_extendHander.GetRangeFinderSwitch = GetRangeFinderSwitch; | ||
| 2904 | - s_extendHander.SetRangeFinderSwitch = SetRangeFinderSwitch; | ||
| 2905 | - s_extendHander.GetRangeFinderData = GetRangeFinderData; | ||
| 2906 | - s_extendHander.GetRangeFinderLocation = GetRangeFinderLocation; | 1484 | + s_rangeFinderHander.GetRangeFinderSwitch = GetRangeFinderSwitch; |
| 1485 | + s_rangeFinderHander.SetRangeFinderSwitch = SetRangeFinderSwitch; | ||
| 1486 | + s_rangeFinderHander.GetRangeFinderData = GetRangeFinderData; | ||
| 1487 | + s_rangeFinderHander.GetRangeFinderLocation = GetRangeFinderLocation; | ||
| 2907 | 1488 | ||
| 2908 | - returnCode = ZiyanPayloadCamera_RegExtendHandler(&s_extendHander); | 1489 | + returnCode = ZiyanPayloadCamera_RegRangeFinderHandler(&s_rangeFinderHander); |
| 2909 | if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { | 1490 | if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { |
| 2910 | - USER_LOG_ERROR("camera register extend handler error:0x%08llX", returnCode); | 1491 | + USER_LOG_ERROR("camera register range finder handler error:0x%08llX", returnCode); |
| 2911 | return returnCode; | 1492 | return returnCode; |
| 2912 | } | 1493 | } |
| 2913 | - | ||
| 2914 | 1494 | ||
| 2915 | - //修改位 | ||
| 2916 | - | ||
| 2917 | - // T_ZiyanTaskHandle handle_test; | ||
| 2918 | - // osalHandler->TaskCreate("camera_vedio_task", push_video_stream8, | ||
| 2919 | - // PAYLOAD_CAMERA_EMU_TASK_STACK_SIZE, NULL, &handle_test); | 1495 | + T_ZiyanTaskHandle handle_test; |
| 1496 | + osalHandler->TaskCreate("camera_vedio_task", push_video_stream8, | ||
| 1497 | + PAYLOAD_CAMERA_EMU_TASK_STACK_SIZE, NULL, &handle_test); | ||
| 2920 | 1498 | ||
| 2921 | /* Create the camera emu taskHandle */ | 1499 | /* Create the camera emu taskHandle */ |
| 2922 | if (osalHandler->TaskCreate("user_camera_task", UserCamera_Task, | 1500 | if (osalHandler->TaskCreate("user_camera_task", UserCamera_Task, |
-
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