合并分支 'dev_00.00.02.00' 到 'master'

Dev 00.00.02.02



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 # Compiled class file
 # Compiled class file
-project_build
+
 ThirdParty
 ThirdParty
 ModuleLib
 ModuleLib
-备份
+备份
+
+
+project_build/AUTEL_道通PSDK
+project_build/GDU_普宙PSDK
+
+project_build/Only_Serial/*
+!project_build/Only_Serial/application
+!project_build/Only_Serial/CMakeLists.txt
+
+
+project_build/DJI_大疆PSDK/*
+!project_build/DJI_大疆PSDK/samples
+project_build/DJI_大疆PSDK/samples/sample_c++
+
+project_build/DJI_大疆PSDK/samples/sample_c/platform/*
+!project_build/DJI_大疆PSDK/samples/sample_c/platform/linux
+
+
+project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/*
+!project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/application
+!project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/hal
+!project_build/DJI_大疆PSDK/samples/sample_c/platform/linux/all/CMakeLists.txt

+/**
+ ********************************************************************
+ * @file    dji_media_file_core.c
+ * @brief
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include <string.h>
+#include <dji_logger.h>
+
+#include "dji_media_file_core.h"
+#include "dji_media_file_jpg.h"
+#include "dji_media_file_mp4.h"
+#include "dji_platform.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Private values ------------------------------------------------------------*/
+//@formatter:off
+static const T_DjiMediaFileOptItem s_mediaFileOpt[] =
+{
+    //JPEG File Operation Item
+    {
+        DJI_CAMERA_FILE_TYPE_JPEG ,
+        DjiMediaFile_IsSupported_JPG,
+        DjiMediaFile_GetAttrFunc_JPG,
+        DjiMediaFile_GetDataOrigin_JPG,
+        DjiMediaFile_GetFileSizeOrigin_JPG,
+        DjiMediaFile_CreateThumbNail_JPG,
+        DjiMediaFile_GetFileSizeThumbNail_JPG,
+        DjiMediaFile_GetDataThumbNail_JPG,
+        DjiMediaFile_DestroyThumbNail_JPG,
+        DjiMediaFile_CreateScreenNail_JPG,
+        DjiMediaFile_GetFileSizeScreenNail_JPG,
+        DjiMediaFile_GetDataScreenNail_JPG,
+        DjiMediaFile_DestroyScreenNail_JPG,
+    },
+    //MP4 File Operation Item
+    {
+        DJI_CAMERA_FILE_TYPE_MP4 ,
+        DjiMediaFile_IsSupported_MP4,
+        DjiMediaFile_GetAttrFunc_MP4,
+        DjiMediaFile_GetDataOrigin_MP4,
+        DjiMediaFile_GetFileSizeOrigin_MP4,
+        DjiMediaFile_CreateThumbNail_MP4,
+        DjiMediaFile_GetFileSizeThumbNail_MP4,
+        DjiMediaFile_GetDataThumbNail_MP4,
+        DjiMediaFile_DestroyThumbNail_MP4,
+        DjiMediaFile_CreateScreenNail_MP4,
+        DjiMediaFile_GetFileSizeScreenNail_MP4,
+        DjiMediaFile_GetDataScreenNail_MP4,
+        DjiMediaFile_DestroyScreenNail_MP4,
+    },
+};
+static const uint32_t s_mediaFileOptCount = sizeof (s_mediaFileOpt) / sizeof(T_DjiMediaFileOptItem);
+//@formatter:on
+
+/* Exported functions definition ---------------------------------------------*/
+bool DjiMediaFile_IsSupported(const char *filePath)
+{
+    int i;
+
+    for (i = 0; i < s_mediaFileOptCount; i++) {
+        if (s_mediaFileOpt[i].isSupportedFunc(filePath) == true) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+T_DjiReturnCode DjiMediaFile_CreateHandle(const char *filePath, T_DjiMediaFileHandle *pMediaFileHandle)
+{
+    int optIndex;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    for (optIndex = 0; optIndex < s_mediaFileOptCount; optIndex++) {
+        if (s_mediaFileOpt[optIndex].isSupportedFunc(filePath) == true) {
+            break;
+        }
+    }
+
+    if (optIndex == s_mediaFileOptCount) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    *pMediaFileHandle = osalHandler->Malloc(sizeof(T_DjiMediaFile));
+    if (*pMediaFileHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    (*pMediaFileHandle)->filePath = osalHandler->Malloc(strlen(filePath) + 1);
+    if ((*pMediaFileHandle)->filePath == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    (*pMediaFileHandle)->mediaFileOptItem = s_mediaFileOpt[optIndex];
+    (*pMediaFileHandle)->mediaFileThm.privThm = NULL;
+    (*pMediaFileHandle)->mediaFileScr.privScr = NULL;
+
+    strcpy((*pMediaFileHandle)->filePath, filePath);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiMediaFile_DestroyHandle(T_DjiMediaFileHandle mediaFileHandle)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    osalHandler->Free(mediaFileHandle->filePath);
+    osalHandler->Free(mediaFileHandle);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiMediaFile_GetMediaFileType(T_DjiMediaFileHandle mediaFileHandle,
+                                              E_DjiCameraMediaFileType *mediaFileType)
+{
+    *mediaFileType = mediaFileHandle->mediaFileOptItem.mediaFileType;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiMediaFile_GetMediaFileAttr(T_DjiMediaFileHandle mediaFileHandle,
+                                              T_DjiCameraMediaFileAttr *mediaFileAttr)
+{
+    if (mediaFileHandle->mediaFileOptItem.getAttrFunc == NULL) {
+        USER_LOG_ERROR("Media file handle getAttrFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getAttrFunc(mediaFileHandle, mediaFileAttr);
+}
+
+T_DjiReturnCode DjiMediaFile_GetDataOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                        uint8_t *data, uint32_t *realLen)
+{
+    if (mediaFileHandle->mediaFileOptItem.getDataOrgFunc == NULL) {
+        USER_LOG_ERROR("Media file handle getDataOrgFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getDataOrgFunc(mediaFileHandle, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    if (mediaFileHandle->mediaFileOptItem.getFileSizeOrgFunc == NULL) {
+        USER_LOG_ERROR("Media file handle getFileSizeOrgFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getFileSizeOrgFunc(mediaFileHandle, fileSize);
+}
+
+T_DjiReturnCode DjiMediaFile_CreateThm(T_DjiMediaFileHandle mediaFileHandle)
+{
+    if (mediaFileHandle->mediaFileOptItem.createThmFunc == NULL) {
+        USER_LOG_ERROR("Media file handle createThmFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.createThmFunc(mediaFileHandle);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeThm(T_DjiMediaFileHandle mediaFileHandle, uint32_t *fileSize)
+{
+    if (mediaFileHandle->mediaFileOptItem.getFileSizeThmFunc == NULL) {
+        USER_LOG_ERROR("Media file handle getFileSizeThmFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getFileSizeThmFunc(mediaFileHandle, fileSize);
+}
+
+T_DjiReturnCode DjiMediaFile_GetDataThm(T_DjiMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
+                                        uint8_t *data, uint16_t *realLen)
+{
+    if (mediaFileHandle->mediaFileOptItem.getDataThmFunc == NULL) {
+        USER_LOG_ERROR("Media file handle getDataThmFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getDataThmFunc(mediaFileHandle, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_DestoryThm(T_DjiMediaFileHandle mediaFileHandle)
+{
+    if (mediaFileHandle->mediaFileOptItem.destroyThmFunc == NULL) {
+        USER_LOG_ERROR("Media file handle destroyThmFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.destroyThmFunc(mediaFileHandle);
+}
+
+T_DjiReturnCode DjiMediaFile_CreateScr(T_DjiMediaFileHandle mediaFileHandle)
+{
+    if (mediaFileHandle->mediaFileOptItem.creatScrFunc == NULL) {
+        USER_LOG_ERROR("Media file handle creatScrFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.creatScrFunc(mediaFileHandle);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeScr(T_DjiMediaFileHandle mediaFileHandle, uint32_t *fileSize)
+{
+    if (mediaFileHandle->mediaFileOptItem.getFileSizeScrFunc == NULL) {
+        USER_LOG_ERROR("Media file handle getFileSizeScrFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getFileSizeScrFunc(mediaFileHandle, fileSize);
+}
+
+T_DjiReturnCode DjiMediaFile_GetDataScr(T_DjiMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
+                                        uint8_t *data, uint16_t *realLen)
+{
+    if (mediaFileHandle->mediaFileOptItem.getDataScrFunc == NULL) {
+        USER_LOG_ERROR("Media file handle getDataScrFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.getDataScrFunc(mediaFileHandle, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_DestroyScr(T_DjiMediaFileHandle mediaFileHandle)
+{
+    if (mediaFileHandle->mediaFileOptItem.destroyScrFunc == NULL) {
+        USER_LOG_ERROR("Media file handle destroyScrFunc null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    return mediaFileHandle->mediaFileOptItem.destroyScrFunc(mediaFileHandle);
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

+/**
+ ********************************************************************
+ * @file    dji_media_file_core.h
+ * @brief   This is the header file for "dji_media_file_core.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef PSDK_MEDIA_FILE_CORE_H
+#define PSDK_MEDIA_FILE_CORE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <dji_typedef.h>
+#include <dji_payload_camera.h>
+
+/* Exported constants --------------------------------------------------------*/
+#define PSDK_MEDIA_FILE_PATH_LEN_MAX           512             /*max file path len */
+#define PSDK_MEDIA_DIR_PATH_LEN_MAX            256             /*max dir path len */
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    void *privThm;
+} T_DjiMediaFileThm;
+
+typedef struct {
+    void *privScr;
+} T_DjiMediaFileScr;
+
+struct _DjiMediaFile;
+
+typedef struct {
+    E_DjiCameraMediaFileType mediaFileType;
+    bool (*isSupportedFunc)(const char *filePath);
+
+    T_DjiReturnCode (*getAttrFunc)(struct _DjiMediaFile *mediaFileHandle, T_DjiCameraMediaFileAttr *mediaFileAttr);
+
+    T_DjiReturnCode (*getDataOrgFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                      uint8_t *data, uint32_t *realLen);
+    T_DjiReturnCode (*getFileSizeOrgFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+
+    T_DjiReturnCode (*createThmFunc)(struct _DjiMediaFile *mediaFileHandle);
+    T_DjiReturnCode (*getFileSizeThmFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+    T_DjiReturnCode (*getDataThmFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                      uint8_t *data, uint16_t *realLen);
+    T_DjiReturnCode (*destroyThmFunc)(struct _DjiMediaFile *mediaFileHandle);
+
+    T_DjiReturnCode (*creatScrFunc)(struct _DjiMediaFile *mediaFileHandle);
+    T_DjiReturnCode (*getFileSizeScrFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+    T_DjiReturnCode (*getDataScrFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                      uint8_t *data, uint16_t *realLen);
+    T_DjiReturnCode (*destroyScrFunc)(struct _DjiMediaFile *mediaFileHandle);
+} T_DjiMediaFileOptItem;
+
+typedef struct _DjiMediaFile {
+    char *filePath;
+    T_DjiMediaFileOptItem mediaFileOptItem;
+    T_DjiMediaFileThm mediaFileThm;
+    T_DjiMediaFileScr mediaFileScr;
+} T_DjiMediaFile, *T_DjiMediaFileHandle;
+
+/* Exported functions --------------------------------------------------------*/
+bool DjiMediaFile_IsSupported(const char *filePath);
+T_DjiReturnCode DjiMediaFile_CreateHandle(const char *filePath, T_DjiMediaFileHandle *pMediaFileHandle);
+T_DjiReturnCode DjiMediaFile_DestroyHandle(T_DjiMediaFileHandle mediaFileHandle);
+
+T_DjiReturnCode DjiMediaFile_GetMediaFileType(T_DjiMediaFileHandle mediaFileHandle,
+                                              E_DjiCameraMediaFileType *mediaFileType);
+T_DjiReturnCode DjiMediaFile_GetMediaFileAttr(T_DjiMediaFileHandle mediaFileHandle,
+                                              T_DjiCameraMediaFileAttr *mediaFileAttr);
+
+T_DjiReturnCode DjiMediaFile_GetDataOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                        uint8_t *data, uint32_t *realLen);
+T_DjiReturnCode DjiMediaFile_GetFileSizeOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+
+T_DjiReturnCode DjiMediaFile_CreateThm(T_DjiMediaFileHandle mediaFileHandle);
+T_DjiReturnCode DjiMediaFile_GetFileSizeThm(T_DjiMediaFileHandle mediaFileHandle, uint32_t *fileSize);
+T_DjiReturnCode DjiMediaFile_GetDataThm(T_DjiMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
+                                        uint8_t *data, uint16_t *realLen);
+T_DjiReturnCode DjiMediaFile_DestoryThm(T_DjiMediaFileHandle mediaFileHandle);
+
+T_DjiReturnCode DjiMediaFile_CreateScr(T_DjiMediaFileHandle mediaFileHandle);
+T_DjiReturnCode DjiMediaFile_GetFileSizeScr(T_DjiMediaFileHandle mediaFileHandle, uint32_t *fileSize);
+T_DjiReturnCode DjiMediaFile_GetDataScr(T_DjiMediaFileHandle mediaFileHandle, uint32_t offset, uint16_t len,
+                                        uint8_t *data, uint16_t *realLen);
+T_DjiReturnCode DjiMediaFile_DestroyScr(T_DjiMediaFileHandle mediaFileHandle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_MEDIA_FILE_CORE_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

+/**
+ ********************************************************************
+ * @file    dji_media_file_jpg.c
+ * @brief
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_media_file_jpg.h"
+#include "dji_media_file_core.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <dji_logger.h>
+#include <utils/util_misc.h>
+#include "dji_platform.h"
+#include "utils/util_time.h"
+#include "utils/util_file.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define JPG_FILE_SUFFIX                 ".jpg"
+#define JPG_TEMP_FILE_TEMPLATE_STR      "JPG_TEMP_XXXXXX.jpg"
+#define JPG_TEMP_FILE_PATH_MAX_LEN      50
+#define FFMPEG_CMD_BUF_SIZE             1024
+
+#define JPG_THM_SCALE_CFG_STR           "scale=100:-1"
+#define JPG_SCR_SCALE_CFG_STR           "scale=600:-1"
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    FILE *tempFile;
+    char tempfilePath[JPG_TEMP_FILE_PATH_MAX_LEN];
+} T_DjiJPGTempFilePriv;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiMediaFile_CreateTempFilePriv_JPG(const char *srcFilePath, const char *scaleCfgStr,
+                                                           T_DjiJPGTempFilePriv **pTempFilePrivHandle);
+static T_DjiReturnCode DjiMediaFile_DestroyTempFilePriv_JPG(T_DjiJPGTempFilePriv *tempFilePrivHandle);
+
+/* Exported functions definition ---------------------------------------------*/
+bool DjiMediaFile_IsSupported_JPG(const char *filePath)
+{
+    if (filePath == NULL) {
+        USER_LOG_ERROR("input parameter is null error");
+        return false;
+    }
+
+    if (strcmp(&filePath[strlen(filePath) - 4], JPG_FILE_SUFFIX) == 0) {
+        return true;
+    }
+
+    return false;
+}
+
+T_DjiReturnCode DjiMediaFile_GetAttrFunc_JPG(struct _DjiMediaFile *mediaFileHandle,
+                                             T_DjiCameraMediaFileAttr *mediaFileAttr)
+{
+    USER_UTIL_UNUSED(mediaFileHandle);
+
+    mediaFileAttr->attrVideoDuration = 0;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiMediaFile_GetDataOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                               uint8_t *data, uint32_t *realLen)
+{
+    return UtilFile_GetFileDataByPath(mediaFileHandle->filePath, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    return UtilFile_GetFileSizeByPath(mediaFileHandle->filePath, fileSize);
+}
+
+T_DjiReturnCode DjiMediaFile_CreateThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle)
+{
+    return DjiMediaFile_CreateTempFilePriv_JPG(mediaFileHandle->filePath, JPG_THM_SCALE_CFG_STR,
+                                               (T_DjiJPGTempFilePriv **) &mediaFileHandle->mediaFileThm.privThm);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    T_DjiJPGTempFilePriv *jpgFileThmPriv = (T_DjiJPGTempFilePriv *) mediaFileHandle->mediaFileThm.privThm;
+
+    return UtilFile_GetFileSize(jpgFileThmPriv->tempFile, fileSize);
+}
+
+T_DjiReturnCode
+DjiMediaFile_GetDataThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                  uint8_t *data, uint16_t *realLen)
+{
+    T_DjiJPGTempFilePriv *jpgFileThmPriv = (T_DjiJPGTempFilePriv *) mediaFileHandle->mediaFileThm.privThm;
+
+    return UtilFile_GetFileData(jpgFileThmPriv->tempFile, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_DestroyThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle)
+{
+    return DjiMediaFile_DestroyTempFilePriv_JPG(mediaFileHandle->mediaFileThm.privThm);
+}
+
+T_DjiReturnCode DjiMediaFile_CreateScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle)
+{
+    return DjiMediaFile_CreateTempFilePriv_JPG(mediaFileHandle->filePath, JPG_SCR_SCALE_CFG_STR,
+                                               (T_DjiJPGTempFilePriv **) &mediaFileHandle->mediaFileScr.privScr);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    T_DjiJPGTempFilePriv *jpgFileScrPriv = (T_DjiJPGTempFilePriv *) mediaFileHandle->mediaFileScr.privScr;
+
+    return UtilFile_GetFileSize(jpgFileScrPriv->tempFile, fileSize);
+}
+
+T_DjiReturnCode
+DjiMediaFile_GetDataScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                   uint8_t *data, uint16_t *realLen)
+{
+    T_DjiJPGTempFilePriv *jpgFileScrPriv = (T_DjiJPGTempFilePriv *) mediaFileHandle->mediaFileScr.privScr;
+
+    return UtilFile_GetFileData(jpgFileScrPriv->tempFile, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_DestroyScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle)
+{
+    return DjiMediaFile_DestroyTempFilePriv_JPG(mediaFileHandle->mediaFileScr.privScr);
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiMediaFile_CreateTempFilePriv_JPG(const char *srcFilePath, const char *scaleCfgStr,
+                                                           T_DjiJPGTempFilePriv **pTempFilePrivHandle)
+{
+    char ffmpeg_cmd[FFMPEG_CMD_BUF_SIZE];
+    int cmdRet;
+    T_DjiRunTimeStamps tiStart, tiEnd;
+    T_DjiJPGTempFilePriv *jpgTempFilePriv;
+    T_DjiReturnCode psdkStat;
+    int tempFd;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    tiStart = DjiUtilTime_GetRunTimeStamps();
+
+    *pTempFilePrivHandle = osalHandler->Malloc(sizeof(T_DjiJPGTempFilePriv));
+    if (*pTempFilePrivHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    jpgTempFilePriv = *pTempFilePrivHandle;
+
+    //get temp file name
+    strcpy(jpgTempFilePriv->tempfilePath, JPG_TEMP_FILE_TEMPLATE_STR);
+    tempFd = mkstemps(jpgTempFilePriv->tempfilePath, strlen(JPG_FILE_SUFFIX));
+    if (tempFd < 0) {
+        USER_LOG_ERROR("JPG Create Temp File Error, tempFd = %d\n", tempFd);
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_create_temp;
+    }
+    close(tempFd);
+    unlink(jpgTempFilePriv->tempfilePath);
+
+    //ffmpeg cmd send
+    snprintf(ffmpeg_cmd, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" -vf %s %s 1>/dev/null 2>&1",
+             srcFilePath, scaleCfgStr, jpgTempFilePriv->tempfilePath);
+
+    cmdRet = system(ffmpeg_cmd);
+
+    tiEnd = DjiUtilTime_GetRunTimeStamps();
+
+    USER_LOG_DEBUG("JPG Create TempFile, RealTime = %ld us\n", tiEnd.realUsec - tiStart.realUsec);
+
+    if (cmdRet != 0) {
+        USER_LOG_ERROR("JPG ffmpeg cmd call error, ret = %d\n", cmdRet);
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_system_cmd;
+    }
+
+    //open temp file
+    jpgTempFilePriv->tempFile = fopen(jpgTempFilePriv->tempfilePath, "rb+");
+    if (jpgTempFilePriv->tempFile == NULL) {
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_file_open;
+    }
+
+    //unlink temp file
+    unlink(jpgTempFilePriv->tempfilePath);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+err_file_open:
+    unlink(jpgTempFilePriv->tempfilePath);
+err_system_cmd:
+err_create_temp:
+    osalHandler->Free(*pTempFilePrivHandle);
+
+    return psdkStat;
+}
+
+static T_DjiReturnCode DjiMediaFile_DestroyTempFilePriv_JPG(T_DjiJPGTempFilePriv *tempFilePrivHandle)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    fclose(tempFilePrivHandle->tempFile);
+    osalHandler->Free(tempFilePrivHandle);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

+/**
+ ********************************************************************
+ * @file    dji_media_file_jpg.h
+ * @brief   This is the header file for "dji_media_file_jpg.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef PSDK_MEDIA_FILE_JPG_H
+#define PSDK_MEDIA_FILE_JPG_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <dji_payload_camera.h>
+#include <dji_typedef.h>
+#include "dji_media_file_core.h"
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+bool DjiMediaFile_IsSupported_JPG(const char *filePath);
+
+T_DjiReturnCode DjiMediaFile_GetAttrFunc_JPG(struct _DjiMediaFile *mediaFileHandle,
+                                             T_DjiCameraMediaFileAttr *mediaFileAttr);
+
+T_DjiReturnCode DjiMediaFile_GetDataOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                               uint8_t *data, uint32_t *realLen);
+T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+
+T_DjiReturnCode DjiMediaFile_CreateThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle);
+T_DjiReturnCode DjiMediaFile_GetFileSizeThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+T_DjiReturnCode
+DjiMediaFile_GetDataThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                  uint8_t *data, uint16_t *realLen);
+T_DjiReturnCode DjiMediaFile_DestroyThumbNail_JPG(struct _DjiMediaFile *mediaFileHandle);
+
+T_DjiReturnCode DjiMediaFile_CreateScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle);
+T_DjiReturnCode DjiMediaFile_GetFileSizeScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+T_DjiReturnCode
+DjiMediaFile_GetDataScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                   uint8_t *data, uint16_t *realLen);
+T_DjiReturnCode DjiMediaFile_DestroyScreenNail_JPG(struct _DjiMediaFile *mediaFileHandle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_MEIDA_FILE_JPG_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

+/**
+ ********************************************************************
+ * @file    dji_media_file_mp4.c
+ * @brief
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_media_file_mp4.h"
+#include "dji_media_file_core.h"
+#include <string.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <dji_logger.h>
+#include <stdlib.h>
+#include "dji_platform.h"
+#include "utils/util_time.h"
+#include "utils/util_file.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+#define MP4_FILE_SUFFIX                 ".mp4"
+#define MP4_TEMP_FILE_TEMPLATE_STR      "MP4_TEMP_XXXXXX.jpg"
+#define MP4_TEMP_FILE_PATH_MAX_LEN      50
+#define FFMPEG_CMD_BUF_SIZE             (256 + 256)
+
+#define MP4_THM_SCALE_CFG_STR           "scale=100:-1"
+#define MP4_SCR_SCALE_CFG_STR           "scale=600:-1"
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    FILE *tempFile;
+    char tempfilePath[MP4_TEMP_FILE_PATH_MAX_LEN];
+} T_DjiMP4TempPicPriv;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiMediaFile_CreateTempPicPriv_MP4(const char *srcFilePath, const char *scaleCfgStr,
+                                                          T_DjiMP4TempPicPriv **pTempPicPrivHandle);
+static T_DjiReturnCode DjiMediaFile_DestroyTempPicPriv_MP4(T_DjiMP4TempPicPriv *tempPicPrivHandle);
+
+/* Private values ------------------------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+bool DjiMediaFile_IsSupported_MP4(const char *filePath)
+{
+    if (filePath == NULL) {
+        USER_LOG_ERROR("input parameter is null error");
+        return false;
+    }
+
+    if (strcmp(&filePath[strlen(filePath) - 4], MP4_FILE_SUFFIX) == 0) {
+        return true;
+    }
+
+    return false;
+}
+
+T_DjiReturnCode DjiMediaFile_GetAttrFunc_MP4(struct _DjiMediaFile *mediaFileHandle,
+                                             T_DjiCameraMediaFileAttr *mediaFileAttr)
+{
+    FILE *fp;
+    char ffmpegCmdStr[FFMPEG_CMD_BUF_SIZE];
+    float hour, minute, second;
+    char tempTailStr[128];
+    int ret;
+    T_DjiReturnCode psdkStat;
+
+    snprintf(ffmpegCmdStr, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" 2>&1 | grep \"Duration\"", mediaFileHandle->filePath);
+    fp = popen(ffmpegCmdStr, "r");
+
+    if (fp == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    ret = fscanf(fp, "  Duration: %f:%f:%f,%127s", &hour, &minute, &second, tempTailStr);
+    if (ret <= 0) {
+        USER_LOG_ERROR("MP4 File Get Duration Error\n");
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    mediaFileAttr->attrVideoDuration = (uint32_t) (hour * 3600 + minute * 60 + second + 0.5);
+
+    /*! The user needs to obtain the frame rate and resolution of the video file by ffmpeg tools.
+     * Also the frame rate and resolution of video need convert to enum E_DjiCameraVideoFrameRate or
+     * E_DjiCameraVideoResolution.
+     */
+    mediaFileAttr->attrVideoFrameRate = DJI_CAMERA_VIDEO_FRAME_RATE_30_FPS;
+    mediaFileAttr->attrVideoResolution = DJI_CAMERA_VIDEO_RESOLUTION_1920x1080;
+
+    psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    pclose(fp);
+
+    return psdkStat;
+}
+
+T_DjiReturnCode DjiMediaFile_GetDataOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                               uint8_t *data, uint32_t *realLen)
+{
+    return UtilFile_GetFileDataByPath(mediaFileHandle->filePath, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    return UtilFile_GetFileSizeByPath(mediaFileHandle->filePath, fileSize);
+}
+
+T_DjiReturnCode DjiMediaFile_CreateThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle)
+{
+
+    return DjiMediaFile_CreateTempPicPriv_MP4(mediaFileHandle->filePath, MP4_THM_SCALE_CFG_STR,
+                                              (T_DjiMP4TempPicPriv **) &mediaFileHandle->mediaFileThm.privThm);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    T_DjiMP4TempPicPriv *jpgFileThmPriv = (T_DjiMP4TempPicPriv *) mediaFileHandle->mediaFileThm.privThm;
+
+    return UtilFile_GetFileSize(jpgFileThmPriv->tempFile, fileSize);
+}
+
+T_DjiReturnCode
+DjiMediaFile_GetDataThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                  uint8_t *data, uint16_t *realLen)
+{
+    T_DjiMP4TempPicPriv *jpgFileThmPriv = (T_DjiMP4TempPicPriv *) mediaFileHandle->mediaFileThm.privThm;
+
+    return UtilFile_GetFileData(jpgFileThmPriv->tempFile, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_DestroyThumbNail_MP4(struct _DjiMediaFile *MediaFileHandle)
+{
+    return DjiMediaFile_DestroyTempPicPriv_MP4(MediaFileHandle->mediaFileThm.privThm);
+}
+
+T_DjiReturnCode DjiMediaFile_CreateScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle)
+{
+    return DjiMediaFile_CreateTempPicPriv_MP4(mediaFileHandle->filePath, MP4_SCR_SCALE_CFG_STR,
+                                              (T_DjiMP4TempPicPriv **) &mediaFileHandle->mediaFileScr.privScr);
+}
+
+T_DjiReturnCode DjiMediaFile_GetFileSizeScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize)
+{
+    T_DjiMP4TempPicPriv *jpgFileScrPriv = (T_DjiMP4TempPicPriv *) mediaFileHandle->mediaFileScr.privScr;
+
+    return UtilFile_GetFileSize(jpgFileScrPriv->tempFile, fileSize);
+}
+
+T_DjiReturnCode
+DjiMediaFile_GetDataScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                   uint8_t *data, uint16_t *realLen)
+{
+    T_DjiMP4TempPicPriv *jpgFileScrPriv = (T_DjiMP4TempPicPriv *) mediaFileHandle->mediaFileScr.privScr;
+
+    return UtilFile_GetFileData(jpgFileScrPriv->tempFile, offset, len, data, realLen);
+}
+
+T_DjiReturnCode DjiMediaFile_DestroyScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle)
+{
+    return DjiMediaFile_DestroyTempPicPriv_MP4(mediaFileHandle->mediaFileScr.privScr);
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiMediaFile_CreateTempPicPriv_MP4(const char *srcFilePath, const char *scaleCfgStr,
+                                                          T_DjiMP4TempPicPriv **pTempPicPrivHandle)
+{
+    char ffmpeg_cmd[FFMPEG_CMD_BUF_SIZE];
+    int cmdRet;
+    T_DjiRunTimeStamps tiStart, tiEnd;
+    T_DjiMP4TempPicPriv *mp4TempPicFile;
+    T_DjiReturnCode psdkStat;
+    int tempFd;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    tiStart = DjiUtilTime_GetRunTimeStamps();
+
+    *pTempPicPrivHandle = osalHandler->Malloc(sizeof(T_DjiMP4TempPicPriv));
+    if (*pTempPicPrivHandle == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    mp4TempPicFile = *pTempPicPrivHandle;
+
+    //get temp file name
+    strcpy(mp4TempPicFile->tempfilePath, MP4_TEMP_FILE_TEMPLATE_STR);
+    tempFd = mkstemps(mp4TempPicFile->tempfilePath, strlen(MP4_FILE_SUFFIX));
+    if (tempFd < 0) {
+        USER_LOG_ERROR("JPG Create Temp File Error, tempFd = %d\n", tempFd);
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_create_temp;
+    }
+    close(tempFd);
+    unlink(mp4TempPicFile->tempfilePath);
+
+    //ffmpeg cmd send
+    snprintf(ffmpeg_cmd, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" -vf %s -ss 00:00:00 -vframes 1 %s 1>/dev/null 2>&1",
+             srcFilePath, scaleCfgStr, mp4TempPicFile->tempfilePath);
+
+    cmdRet = system(ffmpeg_cmd);
+
+    tiEnd = DjiUtilTime_GetRunTimeStamps();
+
+    USER_LOG_DEBUG("JPG Create TempFile, RealTime = %ld us\n", tiEnd.realUsec - tiStart.realUsec);
+
+    if (cmdRet != 0) {
+        USER_LOG_ERROR("JPG ffmpeg cmd call error, ret = %d\n", cmdRet);
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_system_cmd;
+    }
+
+    //open temp file
+    mp4TempPicFile->tempFile = fopen(mp4TempPicFile->tempfilePath, "rb+");
+    if (mp4TempPicFile->tempFile == NULL) {
+        psdkStat = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto err_file_open;
+    }
+
+    //unlink temp file
+    unlink(mp4TempPicFile->tempfilePath);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+err_file_open:
+    unlink(mp4TempPicFile->tempfilePath);
+err_system_cmd:
+err_create_temp:
+    osalHandler->Free(*pTempPicPrivHandle);
+
+    return psdkStat;
+}
+
+static T_DjiReturnCode DjiMediaFile_DestroyTempPicPriv_MP4(T_DjiMP4TempPicPriv *tempPicPrivHandle)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    fclose(tempPicPrivHandle->tempFile);
+    osalHandler->Free(tempPicPrivHandle);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

+/**
+ ********************************************************************
+ * @file    dji_media_file_mp4.h
+ * @brief   This is the header file for "dji_media_file_mp4.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef PSDK_MEDIA_FILE_MP4_H
+#define PSDK_MEDIA_FILE_MP4_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <dji_payload_camera.h>
+#include <dji_typedef.h>
+#include "dji_media_file_core.h"
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+bool DjiMediaFile_IsSupported_MP4(const char *filePath);
+
+T_DjiReturnCode DjiMediaFile_GetAttrFunc_MP4(struct _DjiMediaFile *mediaFileHandle,
+                                             T_DjiCameraMediaFileAttr *mediaFileAttr);
+
+T_DjiReturnCode DjiMediaFile_GetDataOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                               uint8_t *data, uint32_t *realLen);
+T_DjiReturnCode DjiMediaFile_GetFileSizeOrigin_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+
+T_DjiReturnCode DjiMediaFile_CreateThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle);
+T_DjiReturnCode DjiMediaFile_GetFileSizeThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+T_DjiReturnCode
+DjiMediaFile_GetDataThumbNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                  uint8_t *data, uint16_t *realLen);
+T_DjiReturnCode DjiMediaFile_DestroyThumbNail_MP4(struct _DjiMediaFile *MediaFileHandle);
+
+T_DjiReturnCode DjiMediaFile_CreateScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle);
+T_DjiReturnCode DjiMediaFile_GetFileSizeScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
+T_DjiReturnCode
+DjiMediaFile_GetDataScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
+                                   uint8_t *data, uint16_t *realLen);
+T_DjiReturnCode DjiMediaFile_DestroyScreenNail_MP4(struct _DjiMediaFile *mediaFileHandle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_MEDIA_FILE_MP4_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

+/**
+ ********************************************************************
+ * @file    test_payload_cam_emu_common.c
+ * @brief
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "math.h"
+#include "test_payload_cam_emu_base.h"
+#include "utils/util_misc.h"
+#include "dji_logger.h"
+#include "dji_platform.h"
+#include "dji_payload_camera.h"
+#include "dji_aircraft_info.h"
+#include "dji_gimbal.h"
+#include "dji_xport.h"
+#include "gimbal_emu/test_payload_gimbal_emu.h"
+
+#include "Psdk_UI_io.h"
+
+
+/* Private constants ---------------------------------------------------------*/
+#define PAYLOAD_CAMERA_EMU_TASK_FREQ            (100)
+#define PAYLOAD_CAMERA_EMU_TASK_STACK_SIZE      (2048)
+#define SDCARD_TOTAL_SPACE_IN_MB                (32 * 1024)
+#define SDCARD_PER_PHOTO_SPACE_IN_MB            (4)
+#define SDCARD_PER_SECONDS_RECORD_SPACE_IN_MB   (2)
+#define ZOOM_OPTICAL_FOCAL_MAX_LENGTH           (300)
+#define ZOOM_OPTICAL_FOCAL_MIN_LENGTH           (10)
+#define ZOOM_OPTICAL_FOCAL_LENGTH_STEP          (10)
+#define ZOOM_OPTICAL_FOCAL_LENGTH_CTRL_STEP     (5)
+#define ZOOM_DIGITAL_BASE_FACTOR                (1.0)
+#define ZOOM_DIGITAL_STEP_FACTOR                (0.1)
+#define ZOOM_DIGITAL_MAX_FACTOR                 (6.0)
+#define FOCUS_MAX_RINGVALUE                     (1000)
+#define FOCUS_MID_RINGVALUE                     (500)
+#define IMAGE_SENSOR_X_SIZE                     (88.0f) // unit: 0.1mm
+#define IMAGE_SENSOR_Y_SIZE                     (66.0f) // unit: 0.1mm
+#define CENTER_POINT_IN_SCREEN_X_VALUE          (0.5f)
+#define CENTER_POINT_IN_SCREEN_Y_VALUE          (0.5f)
+#define TAP_ZOOM_DURATION                       (2000) // unit: ms
+#define INTERVAL_PHOTOGRAPH_ALWAYS_COUNT        (255)
+#define INTERVAL_PHOTOGRAPH_INTERVAL_INIT_VALUE (1)    // unit: s
+#define TAKING_PHOTO_SPENT_TIME_MS_EMU          (500)
+#define PHOTO_FILE_PATH                         "../../../../../api_sample/camera_media_emu/media_file/DJI_0001_ORG.jpg"
+
+// Attention: you can select which camera function you want to run, default: all on.
+#define USER_CAMERA_EMU_METERING_ON                1
+#define USER_CAMERA_EMU_FOCUS_ON                   1
+#define USER_CAMERA_EMU_HYBRID_ZOOM_ON             1
+#define USER_CAMERA_EMU_TAP_ZOOM_ON                1
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    E_DjiGimbalRotationMode rotationMode;
+    T_DjiGimbalRotationProperty rotationProperty;
+    T_DjiAttitude3d rotationValue;
+} T_TestCameraGimbalRotationArgument;
+
+/* Private variables ---------------------------------------------------------*/
+static bool s_isCamInited = false;
+
+static T_DjiCameraCommonHandler s_commonHandler;
+static T_DjiCameraExposureMeteringHandler s_exposureMeteringHandler;
+static T_DjiCameraFocusHandler s_focusHandler;
+static T_DjiCameraDigitalZoomHandler s_digitalZoomHandler;
+static T_DjiCameraOpticalZoomHandler s_opticalZoomHandler;
+static T_DjiCameraTapZoomHandler s_tapZoomHandler;
+
+static T_DjiTaskHandle s_userCameraThread;
+
+static T_DjiCameraSystemState s_cameraState = {0};
+static E_DjiCameraShootPhotoMode s_cameraShootPhotoMode = DJI_CAMERA_SHOOT_PHOTO_MODE_SINGLE;
+static E_DjiCameraBurstCount s_cameraBurstCount = DJI_CAMERA_BURST_COUNT_2;
+static T_DjiCameraPhotoTimeIntervalSettings s_cameraPhotoTimeIntervalSettings = {INTERVAL_PHOTOGRAPH_ALWAYS_COUNT,
+                                                                                 INTERVAL_PHOTOGRAPH_INTERVAL_INIT_VALUE};
+static T_DjiCameraSDCardState s_cameraSDCardState = {0};
+static T_DjiMutexHandle s_commonMutex = {0};
+
+static E_DjiCameraMeteringMode s_cameraMeteringMode = DJI_CAMERA_METERING_MODE_CENTER;
+static T_DjiCameraSpotMeteringTarget s_cameraSpotMeteringTarget = {0};
+
+static E_DjiCameraFocusMode s_cameraFocusMode = DJI_CAMERA_FOCUS_MODE_AUTO;
+static T_DjiCameraPointInScreen s_cameraFocusTarget = {0};
+static uint32_t s_cameraFocusRingValue = FOCUS_MID_RINGVALUE;
+static T_DjiCameraFocusAssistantSettings s_cameraFocusAssistantSettings = {0};
+
+static E_DjiCameraZoomDirection s_cameraZoomDirection = DJI_CAMERA_ZOOM_DIRECTION_OUT;
+static E_DjiCameraZoomSpeed s_cameraZoomSpeed = DJI_CAMERA_ZOOM_SPEED_NORMAL;
+static uint32_t s_cameraOpticalZoomFocalLength = ZOOM_OPTICAL_FOCAL_MIN_LENGTH;
+static dji_f32_t s_cameraDigitalZoomFactor = ZOOM_DIGITAL_BASE_FACTOR;
+static bool s_isStartContinuousOpticalZoom = false;
+static bool s_isOpticalZoomReachLimit = false;
+static T_DjiMutexHandle s_zoomMutex = {0};
+
+static bool s_isTapZoomEnabled = false;
+static T_DjiCameraTapZoomState s_cameraTapZoomState = {0};
+static uint8_t s_tapZoomMultiplier = 1;
+static uint32_t s_tapZoomStartTime = 0;
+static bool s_isStartTapZoom = false;
+static bool s_isTapZooming = false;
+static T_TestCameraGimbalRotationArgument s_tapZoomNewestGimbalRotationArgument = {0};
+static uint32_t s_tapZoomNewestTargetHybridFocalLength = 0; // unit: 0.1mm
+static T_DjiMutexHandle s_tapZoomMutex = NULL;
+static E_DjiCameraVideoStreamType s_cameraVideoStreamType;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode GetSystemState(T_DjiCameraSystemState *systemState);
+static T_DjiReturnCode SetMode(E_DjiCameraMode mode);
+static T_DjiReturnCode StartRecordVideo(void);
+static T_DjiReturnCode StopRecordVideo(void);
+static T_DjiReturnCode StartShootPhoto(void);
+static T_DjiReturnCode StopShootPhoto(void);
+static T_DjiReturnCode SetShootPhotoMode(E_DjiCameraShootPhotoMode mode);
+static T_DjiReturnCode GetShootPhotoMode(E_DjiCameraShootPhotoMode *mode);
+static T_DjiReturnCode SetPhotoBurstCount(E_DjiCameraBurstCount burstCount);
+static T_DjiReturnCode GetPhotoBurstCount(E_DjiCameraBurstCount *burstCount);
+static T_DjiReturnCode SetPhotoTimeIntervalSettings(T_DjiCameraPhotoTimeIntervalSettings settings);
+static T_DjiReturnCode GetPhotoTimeIntervalSettings(T_DjiCameraPhotoTimeIntervalSettings *settings);
+static T_DjiReturnCode GetSDCardState(T_DjiCameraSDCardState *sdCardState);
+static T_DjiReturnCode FormatSDCard(void);
+
+static T_DjiReturnCode SetMeteringMode(E_DjiCameraMeteringMode mode);
+static T_DjiReturnCode GetMeteringMode(E_DjiCameraMeteringMode *mode);
+static T_DjiReturnCode SetSpotMeteringTarget(T_DjiCameraSpotMeteringTarget target);
+static T_DjiReturnCode GetSpotMeteringTarget(T_DjiCameraSpotMeteringTarget *target);
+
+static T_DjiReturnCode SetFocusMode(E_DjiCameraFocusMode mode);
+static T_DjiReturnCode GetFocusMode(E_DjiCameraFocusMode *mode);
+static T_DjiReturnCode SetFocusTarget(T_DjiCameraPointInScreen target);
+static T_DjiReturnCode GetFocusTarget(T_DjiCameraPointInScreen *target);
+static T_DjiReturnCode SetFocusAssistantSettings(T_DjiCameraFocusAssistantSettings settings);
+static T_DjiReturnCode GetFocusAssistantSettings(T_DjiCameraFocusAssistantSettings *settings);
+static T_DjiReturnCode SetFocusRingValue(uint32_t value);
+static T_DjiReturnCode GetFocusRingValue(uint32_t *value);
+static T_DjiReturnCode GetFocusRingValueUpperBound(uint32_t *value);
+
+static T_DjiReturnCode SetDigitalZoomFactor(dji_f32_t factor);
+static T_DjiReturnCode SetOpticalZoomFocalLength(uint32_t focalLength);
+static T_DjiReturnCode GetOpticalZoomFocalLength(uint32_t *focalLength);
+static T_DjiReturnCode GetOpticalZoomSpec(T_DjiCameraOpticalZoomSpec *spec);
+static T_DjiReturnCode StartContinuousOpticalZoom(E_DjiCameraZoomDirection direction, E_DjiCameraZoomSpeed speed);
+static T_DjiReturnCode StopContinuousOpticalZoom(void);
+static T_DjiReturnCode GetTapZoomState(T_DjiCameraTapZoomState *state);
+static T_DjiReturnCode SetTapZoomEnabled(bool enabledFlag);
+static T_DjiReturnCode GetTapZoomEnabled(bool *enabledFlag);
+static T_DjiReturnCode SetTapZoomMultiplier(uint8_t multiplier);
+static T_DjiReturnCode GetTapZoomMultiplier(uint8_t *multiplier);
+static T_DjiReturnCode TapZoomAtTarget(T_DjiCameraPointInScreen target);
+static T_DjiReturnCode DjiTest_CameraHybridZoom(uint32_t focalLength);
+static T_DjiReturnCode DjiTest_CameraRotationGimbal(T_TestCameraGimbalRotationArgument gimbalRotationArgument);
+
+static void *UserCamera_Task(void *arg);
+
+/* Exported functions definition ---------------------------------------------*/
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode GetSystemState(T_DjiCameraSystemState *systemState)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    *systemState = s_cameraState;
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+//设置模式
+static T_DjiReturnCode SetMode(E_DjiCameraMode mode)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_cameraState.cameraMode = mode;
+    USER_LOG_INFO("set camera mode:%d", mode);
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+
+// 开始录像
+static T_DjiReturnCode StartRecordVideo(void)
+{
+    T_DjiReturnCode djiStat;
+    T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    djiStat = osalHandler->MutexLock(s_commonMutex);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", djiStat);
+        return djiStat;
+    }
+
+    if (s_cameraState.isRecording != false) {
+        USER_LOG_ERROR("camera is already in recording state");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT_IN_CURRENT_STATE;
+        goto out;
+    }
+
+    s_cameraState.isRecording = true;
+    USER_LOG_INFO("start record video");
+    //录像通知函数
+    if(JZsdk_Psdk_UI_io_VideoRecord(1) != 0)
+    {
+        //录像开启失败
+        s_cameraState.isRecording = false;
+    }
+
+out:
+    djiStat = osalHandler->MutexUnlock(s_commonMutex);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", djiStat);
+        return djiStat;
+    }
+
+    return returnCode;
+}
+
+//结束录像
+static T_DjiReturnCode StopRecordVideo(void)
+{
+    T_DjiReturnCode djiStat;
+    T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    djiStat = osalHandler->MutexLock(s_commonMutex);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", djiStat);
+        return djiStat;
+    }
+
+    if (s_cameraState.isRecording != true) {
+        USER_LOG_ERROR("camera is not in recording state");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT_IN_CURRENT_STATE;
+        goto out;
+    }
+
+    s_cameraState.isRecording = false;
+    s_cameraState.isStoring = true;
+    s_cameraState.currentVideoRecordingTimeInSeconds = 0;
+
+    USER_LOG_INFO("stop record video");
+    //录像通知函数
+    if(JZsdk_Psdk_UI_io_VideoRecord(0) != 0)
+    {
+        //关闭失败
+        s_cameraState.isRecording = true;
+        s_cameraState.isStoring = false;
+    }
+
+out:
+    djiStat = osalHandler->MutexUnlock(s_commonMutex);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", djiStat);
+        return djiStat;
+    }
+
+    return returnCode;
+}
+
+//拍照功能
+static T_DjiReturnCode StartShootPhoto(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("start shoot photo");
+    s_cameraState.isStoring = true;
+
+    // 拍照模式的判定
+    if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_SINGLE) {
+        s_cameraState.shootingState = DJI_CAMERA_SHOOTING_SINGLE_PHOTO;
+        // 这里接过去推流那边 以获取拍照内容
+        JZsdk_Psdk_UI_io_ShootPhoto();
+
+    } else if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_BURST) {
+        s_cameraState.shootingState = DJI_CAMERA_SHOOTING_BURST_PHOTO;
+        //暂时不做连拍
+        //JZsdk_Psdk_UI_io_BurstShootPhoto(s_cameraBurstCount);
+
+    } else if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_INTERVAL) {
+        s_cameraState.shootingState = DJI_CAMERA_SHOOTING_INTERVAL_PHOTO;
+        s_cameraState.isShootingIntervalStart = true;
+        s_cameraState.currentPhotoShootingIntervalTimeInSeconds = s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds;
+    }
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+//停止拍照
+static T_DjiReturnCode StopShootPhoto(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("stop shoot photo");
+    s_cameraState.shootingState = DJI_CAMERA_SHOOTING_PHOTO_IDLE;
+    
+    //改成转码后再取消锁定
+    //s_cameraState.isStoring = false;
+    s_cameraState.isShootingIntervalStart = false;
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+
+//设置拍摄模式
+static T_DjiReturnCode SetShootPhotoMode(E_DjiCameraShootPhotoMode mode)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_cameraShootPhotoMode = mode;
+    USER_LOG_INFO("set shoot photo mode:%d", mode);
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetShootPhotoMode(E_DjiCameraShootPhotoMode *mode)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    *mode = s_cameraShootPhotoMode;
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);\
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+//加载相机的连拍数量
+static T_DjiReturnCode SetPhotoBurstCount(E_DjiCameraBurstCount burstCount)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_cameraBurstCount = burstCount;
+    USER_LOG_INFO("set photo burst count:%d", burstCount);
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+
+//得到相机设定的连拍数量
+static T_DjiReturnCode GetPhotoBurstCount(E_DjiCameraBurstCount *burstCount)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    *burstCount = s_cameraBurstCount;
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+//设置定时拍摄的时间
+static T_DjiReturnCode SetPhotoTimeIntervalSettings(T_DjiCameraPhotoTimeIntervalSettings settings)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_cameraPhotoTimeIntervalSettings.captureCount = settings.captureCount;
+    s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds = settings.timeIntervalSeconds;
+    USER_LOG_INFO("set photo interval settings count:%d seconds:%d", settings.captureCount,
+                  settings.timeIntervalSeconds);
+    s_cameraState.currentPhotoShootingIntervalCount = settings.captureCount;
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+//得到定时拍摄的时间
+static T_DjiReturnCode GetPhotoTimeIntervalSettings(T_DjiCameraPhotoTimeIntervalSettings *settings)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    memcpy(settings, &s_cameraPhotoTimeIntervalSettings, sizeof(T_DjiCameraPhotoTimeIntervalSettings));
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+//得到sd佧的状态
+static T_DjiReturnCode GetSDCardState(T_DjiCameraSDCardState *sdCardState)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    memcpy(sdCardState, &s_cameraSDCardState, sizeof(T_DjiCameraSDCardState));
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+// 格式化sd佧
+static T_DjiReturnCode FormatSDCard(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("format sdcard");
+
+    memset(&s_cameraSDCardState, 0, sizeof(T_DjiCameraSDCardState));
+    s_cameraSDCardState.isInserted = true;
+    s_cameraSDCardState.isVerified = true;
+    s_cameraSDCardState.totalSpaceInMB = SDCARD_TOTAL_SPACE_IN_MB;
+    s_cameraSDCardState.remainSpaceInMB = SDCARD_TOTAL_SPACE_IN_MB;
+    s_cameraSDCardState.availableCaptureCount = SDCARD_TOTAL_SPACE_IN_MB / SDCARD_PER_PHOTO_SPACE_IN_MB;
+    s_cameraSDCardState.availableRecordingTimeInSeconds =
+        SDCARD_TOTAL_SPACE_IN_MB / SDCARD_PER_SECONDS_RECORD_SPACE_IN_MB;
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+
+//设置测量模式
+static T_DjiReturnCode SetMeteringMode(E_DjiCameraMeteringMode mode)
+{
+    USER_LOG_INFO("set metering mode:%d", mode);
+    s_cameraMeteringMode = mode;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetMeteringMode(E_DjiCameraMeteringMode *mode)
+{
+    *mode = s_cameraMeteringMode;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetSpotMeteringTarget(T_DjiCameraSpotMeteringTarget target)
+{
+    USER_LOG_INFO("set spot metering area col:%d row:%d", target.col, target.row);
+    memcpy(&s_cameraSpotMeteringTarget, &target, sizeof(T_DjiCameraSpotMeteringTarget));
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetSpotMeteringTarget(T_DjiCameraSpotMeteringTarget *target)
+{
+    memcpy(target, &s_cameraSpotMeteringTarget, sizeof(T_DjiCameraSpotMeteringTarget));
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetFocusMode(E_DjiCameraFocusMode mode)
+{
+    USER_LOG_INFO("set focus mode:%d", mode);
+    s_cameraFocusMode = mode;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetFocusMode(E_DjiCameraFocusMode *mode)
+{
+    *mode = s_cameraFocusMode;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetFocusTarget(T_DjiCameraPointInScreen target)
+{
+    USER_LOG_INFO("set focus target x:%.2f y:%.2f", target.focusX, target.focusY);
+    memcpy(&s_cameraFocusTarget, &target, sizeof(T_DjiCameraPointInScreen));
+
+    int PointX = (int)(target.focusX *100);
+    int PointY = (int)(target.focusY *100);
+
+    //发送到对焦点
+    //USER_LOG_INFO("Px:%d Py:%d",PointX,PointY);
+    JZsdK_SetFocusTarget(PointX, PointY);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetFocusTarget(T_DjiCameraPointInScreen *target)
+{
+    memcpy(target, &s_cameraFocusTarget, sizeof(T_DjiCameraPointInScreen));
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetFocusAssistantSettings(T_DjiCameraFocusAssistantSettings settings)
+{
+    USER_LOG_INFO("set focus assistant setting MF:%d AF:%d", settings.isEnabledMF, settings.isEnabledAF);
+    memcpy(&s_cameraFocusAssistantSettings, &settings, sizeof(T_DjiCameraFocusAssistantSettings));
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetFocusAssistantSettings(T_DjiCameraFocusAssistantSettings *settings)
+{
+    memcpy(settings, &s_cameraFocusAssistantSettings, sizeof(T_DjiCameraFocusAssistantSettings));
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetFocusRingValue(uint32_t value)
+{
+    USER_LOG_INFO("set focus ring value:%d", value);
+    s_cameraFocusRingValue = value;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetFocusRingValue(uint32_t *value)
+{
+    *value = s_cameraFocusRingValue;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetFocusRingValueUpperBound(uint32_t *value)
+{
+    *value = FOCUS_MAX_RINGVALUE;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetDigitalZoomFactor(dji_f32_t factor)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("set digital zoom factor:%.2f", factor);
+    s_cameraDigitalZoomFactor = factor;
+
+    returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetOpticalZoomFocalLength(uint32_t focalLength)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("set optical zoom focal length:%d", focalLength);
+    s_isOpticalZoomReachLimit = false;
+    s_cameraDigitalZoomFactor = ZOOM_DIGITAL_BASE_FACTOR;
+    s_cameraOpticalZoomFocalLength = ZOOM_OPTICAL_FOCAL_MIN_LENGTH;
+
+    returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetOpticalZoomFocalLength(uint32_t *focalLength)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    *focalLength = s_cameraOpticalZoomFocalLength;
+
+    returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetOpticalZoomSpec(T_DjiCameraOpticalZoomSpec *spec)
+{
+    spec->maxFocalLength = ZOOM_OPTICAL_FOCAL_MAX_LENGTH;
+    spec->minFocalLength = ZOOM_OPTICAL_FOCAL_MIN_LENGTH;
+    spec->focalLengthStep = ZOOM_OPTICAL_FOCAL_LENGTH_STEP;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode StartContinuousOpticalZoom(E_DjiCameraZoomDirection direction, E_DjiCameraZoomSpeed speed)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("start continuous optical zoom direction:%d speed:%d", direction, speed);
+    s_isStartContinuousOpticalZoom = true;
+    s_cameraZoomDirection = direction;
+    s_cameraZoomSpeed = speed;
+
+    returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode StopContinuousOpticalZoom(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_INFO("stop continuous optical zoom");
+    s_isStartContinuousOpticalZoom = false;
+    s_cameraZoomDirection = DJI_CAMERA_ZOOM_DIRECTION_OUT;
+    s_cameraZoomSpeed = DJI_CAMERA_ZOOM_SPEED_NORMAL;
+
+    returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetTapZoomState(T_DjiCameraTapZoomState *state)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_tapZoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    memcpy(state, &s_cameraTapZoomState, sizeof(T_DjiCameraTapZoomState));
+
+    returnCode = osalHandler->MutexUnlock(s_tapZoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetTapZoomEnabled(bool enabledFlag)
+{
+    USER_LOG_INFO("set tap zoom enabled flag: %d.", enabledFlag);
+    s_isTapZoomEnabled = enabledFlag;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetTapZoomEnabled(bool *enabledFlag)
+{
+    *enabledFlag = s_isTapZoomEnabled;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetTapZoomMultiplier(uint8_t multiplier)
+{
+    USER_LOG_INFO("set tap zoom multiplier: %d.", multiplier);
+    s_tapZoomMultiplier = multiplier;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetTapZoomMultiplier(uint8_t *multiplier)
+{
+    *multiplier = s_tapZoomMultiplier;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode TapZoomAtTarget(T_DjiCameraPointInScreen target)
+{
+    T_DjiReturnCode returnCode;
+    E_DjiGimbalRotationMode rotationMode;
+    T_DjiGimbalRotationProperty rotationProperty = {0};
+    T_DjiAttitude3d rotationValue = {0};
+    float hybridFocalLength = 0; // unit: 0.1mm
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    USER_LOG_INFO("tap zoom at target: x %f, y %f.", target.focusX, target.focusY);
+
+    if (s_isTapZoomEnabled != true) {
+        USER_LOG_WARN("tap zoom is not enabled.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (s_isTapZooming || s_isStartTapZoom) {
+        USER_LOG_WARN("The last tap zoom process is not over.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT_IN_CURRENT_STATE;
+    }
+
+    rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE;
+    rotationProperty.relativeAngleRotation.actionTime = TAP_ZOOM_DURATION / 10;
+
+    returnCode = osalHandler->MutexLock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    /* Calculation formula: rotation angle = arctan((coordinate of target in sensor - coordinate of center point in
+     * sensor) / hybrid focal length). Here, suppose that images of all pixels of sensor are displayed in screen,
+     * and that center of the image sensor coincides with center of rotation of the gimbal, and that optical axis of
+     * camera coincides with x-axis of gimbal. */
+    hybridFocalLength = (dji_f32_t) s_cameraOpticalZoomFocalLength * s_cameraDigitalZoomFactor;
+
+    returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    rotationValue.pitch = (int32_t) (
+        atan2f((target.focusY - CENTER_POINT_IN_SCREEN_Y_VALUE) * IMAGE_SENSOR_Y_SIZE, hybridFocalLength) * 1800 /
+        DJI_PI);
+    rotationValue.yaw = (int32_t) (
+        atan2f((target.focusX - CENTER_POINT_IN_SCREEN_X_VALUE) * IMAGE_SENSOR_X_SIZE, hybridFocalLength) * 1800 /
+        DJI_PI);
+
+    returnCode = osalHandler->MutexLock(s_tapZoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_tapZoomNewestGimbalRotationArgument.rotationMode = rotationMode;
+    s_tapZoomNewestGimbalRotationArgument.rotationProperty = rotationProperty;
+    s_tapZoomNewestGimbalRotationArgument.rotationValue = rotationValue;
+    s_tapZoomNewestTargetHybridFocalLength = (uint32_t) (hybridFocalLength * (float) s_tapZoomMultiplier);
+
+    returnCode = osalHandler->MutexUnlock(s_tapZoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_isStartTapZoom = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_CameraHybridZoom(uint32_t focalLength)
+{
+    if (focalLength >= ZOOM_OPTICAL_FOCAL_MIN_LENGTH && focalLength <= ZOOM_OPTICAL_FOCAL_MAX_LENGTH) {
+        s_cameraOpticalZoomFocalLength = focalLength;
+        s_cameraDigitalZoomFactor = ZOOM_DIGITAL_BASE_FACTOR;
+    } else if (focalLength < ZOOM_OPTICAL_FOCAL_MIN_LENGTH) {
+        s_cameraOpticalZoomFocalLength = ZOOM_OPTICAL_FOCAL_MIN_LENGTH;
+        s_cameraDigitalZoomFactor = ZOOM_DIGITAL_BASE_FACTOR;
+
+        USER_LOG_ERROR("focal length %d is smaller than min optical focal length %d.", focalLength,
+                       ZOOM_OPTICAL_FOCAL_MIN_LENGTH);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_OUT_OF_RANGE;
+    } else {
+        s_cameraOpticalZoomFocalLength = ZOOM_OPTICAL_FOCAL_MAX_LENGTH;
+        s_cameraDigitalZoomFactor = (float) focalLength / ZOOM_OPTICAL_FOCAL_MAX_LENGTH;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_CameraRotationGimbal(T_TestCameraGimbalRotationArgument gimbalRotationArgument)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiAircraftInfoBaseInfo aircraftBaseInfo = {0};
+
+    returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftBaseInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get aircraft information error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
+        aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
+        returnCode = DjiTest_GimbalRotate(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
+                                          gimbalRotationArgument.rotationValue);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("rotate gimbal error: 0x%08llX.", returnCode);
+            return returnCode;
+        }
+    } else if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
+        returnCode = DjiXPort_RotateSync(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
+                                         gimbalRotationArgument.rotationValue);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("rotate XPort error: 0x%08llX.", returnCode);
+            return returnCode;
+        }
+    } else {
+        USER_LOG_ERROR("PSDK adapter type is invalid: %d.", aircraftBaseInfo.djiAdapterType);
+        return DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+static void *UserCamera_Task(void *arg)
+{
+    static uint32_t photoCnt = 0;
+    static uint32_t step = 0;
+    T_DjiReturnCode returnCode;
+    int32_t tempFocalLength = 0;
+    dji_f32_t tempDigitalFactor = 0.0f;
+    uint32_t currentTime = 0;
+    bool isStartIntervalPhotoAction = false;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    USER_UTIL_UNUSED(arg);
+
+    while (1) {
+        osalHandler->TaskSleepMs(1000 / PAYLOAD_CAMERA_EMU_TASK_FREQ);
+        step++;
+
+        returnCode = osalHandler->MutexLock(s_commonMutex);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+            continue;
+        }
+
+        s_cameraSDCardState.availableRecordingTimeInSeconds =
+            s_cameraSDCardState.remainSpaceInMB / SDCARD_PER_SECONDS_RECORD_SPACE_IN_MB;
+        s_cameraSDCardState.availableCaptureCount = s_cameraSDCardState.remainSpaceInMB / SDCARD_PER_PHOTO_SPACE_IN_MB;
+
+//l理解你的照片   短和逻辑存储
+        //realize your photo shoot and storage logic here
+        if (s_cameraState.shootingState != DJI_CAMERA_SHOOTING_PHOTO_IDLE &&
+            photoCnt++ > TAKING_PHOTO_SPENT_TIME_MS_EMU / (1000 / PAYLOAD_CAMERA_EMU_TASK_FREQ)) {
+            photoCnt = 0;
+
+//在拍摄结束后 把照片放入仓库
+            //store the photo after shooting finished
+            if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_SINGLE) {
+                s_cameraSDCardState.remainSpaceInMB =
+                    s_cameraSDCardState.remainSpaceInMB - SDCARD_PER_PHOTO_SPACE_IN_MB;
+                s_cameraState.isStoring = false;
+                s_cameraState.shootingState = DJI_CAMERA_SHOOTING_PHOTO_IDLE;
+            } else if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_BURST) {
+                s_cameraSDCardState.remainSpaceInMB =
+                    s_cameraSDCardState.remainSpaceInMB - SDCARD_PER_PHOTO_SPACE_IN_MB * s_cameraBurstCount;
+                s_cameraState.isStoring = false;
+                s_cameraState.shootingState = DJI_CAMERA_SHOOTING_PHOTO_IDLE;
+            } else if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_INTERVAL) {
+                if (isStartIntervalPhotoAction == true) {
+                    s_cameraState.isStoring = false;
+                    s_cameraState.shootingState = DJI_CAMERA_SHOOTING_PHOTO_IDLE;
+                    s_cameraSDCardState.remainSpaceInMB =
+                        s_cameraSDCardState.remainSpaceInMB - SDCARD_PER_PHOTO_SPACE_IN_MB;
+                }
+            }
+
+// 检查 sd卡 的 保留空间
+            //check the remain space of sdcard
+            if (s_cameraSDCardState.remainSpaceInMB > SDCARD_TOTAL_SPACE_IN_MB) {
+                s_cameraSDCardState.remainSpaceInMB = 0;
+                s_cameraSDCardState.isFull = true;
+            }
+
+#if dji_ARCH_SYS_LINUX
+            T_DjiCameraMediaFileInfo mediaFileInfo = {0};
+
+// 退入 媒体文件信息
+            // push added media file information
+            if (s_cameraShootPhotoMode == dji_CAMERA_SHOOT_PHOTO_MODE_SINGLE) {
+                if (UtilFile_IsFileExist(PHOTO_FILE_PATH) == true) {
+                    psdkStat = PsdkTest_CameraMediaGetFileInfo(PHOTO_FILE_PATH, &mediaFileInfo);
+                    if (psdkStat != dji_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        PsdkLogger_UserLogError("Get media file info error 0x%08llX", psdkStat);
+                    }
+
+                    psdkStat = PsdkPayloadCamera_PushAddedMediaFileInfo(PHOTO_FILE_PATH, mediaFileInfo);
+                    if (psdkStat != dji_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        PsdkLogger_UserLogError("Push added media file info error 0x%08llX", psdkStat);
+                    }
+                } else {
+                    PsdkLogger_UserLogWarn("Can't found the media file by path. "
+                                           "Probably because media file has not existed. "
+                                           "Please check media file if exists. ");
+                }
+            }
+#endif
+        }
+
+        returnCode = osalHandler->MutexUnlock(s_commonMutex);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+            continue;
+        }
+
+        // 10Hz
+        if (USER_UTIL_IS_WORK_TURN(step, 10, PAYLOAD_CAMERA_EMU_TASK_FREQ)) {
+            returnCode = osalHandler->MutexLock(s_zoomMutex);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+                continue;
+            }
+
+#ifdef USER_CAMERA_EMU_HYBRID_ZOOM_ON
+            //Add logic here for zoom camera
+            if (s_isStartContinuousOpticalZoom == true) {
+                tempDigitalFactor = s_cameraDigitalZoomFactor;
+                tempFocalLength = (int32_t) s_cameraOpticalZoomFocalLength;
+                if (s_isOpticalZoomReachLimit == false) {
+                    if (s_cameraZoomDirection == DJI_CAMERA_ZOOM_DIRECTION_IN) {
+                        tempFocalLength += ((int) s_cameraZoomSpeed - DJI_CAMERA_ZOOM_SPEED_SLOWEST + 1) *
+                                           ZOOM_OPTICAL_FOCAL_LENGTH_CTRL_STEP;
+                    } else if (s_cameraZoomDirection == DJI_CAMERA_ZOOM_DIRECTION_OUT) {
+                        tempFocalLength -= ((int) s_cameraZoomSpeed - DJI_CAMERA_ZOOM_SPEED_SLOWEST + 1) *
+                                           ZOOM_OPTICAL_FOCAL_LENGTH_CTRL_STEP;
+                    }
+
+                    if (tempFocalLength > ZOOM_OPTICAL_FOCAL_MAX_LENGTH) {
+                        s_isOpticalZoomReachLimit = true;
+                        tempFocalLength = ZOOM_OPTICAL_FOCAL_MAX_LENGTH;
+                    }
+
+                    if (tempFocalLength < ZOOM_OPTICAL_FOCAL_MIN_LENGTH) {
+                        tempFocalLength = ZOOM_OPTICAL_FOCAL_MIN_LENGTH;
+                    }
+                } else {
+                    if (s_cameraZoomDirection == DJI_CAMERA_ZOOM_DIRECTION_IN) {
+                        tempDigitalFactor += (dji_f32_t) ZOOM_DIGITAL_STEP_FACTOR;
+                    } else if (s_cameraZoomDirection == DJI_CAMERA_ZOOM_DIRECTION_OUT) {
+                        tempDigitalFactor -= (dji_f32_t) ZOOM_DIGITAL_STEP_FACTOR;
+                    }
+
+                    if (tempDigitalFactor > (dji_f32_t) ZOOM_DIGITAL_MAX_FACTOR) {
+                        tempDigitalFactor = (dji_f32_t) ZOOM_DIGITAL_MAX_FACTOR;
+                    }
+
+                    if (tempDigitalFactor < (dji_f32_t) ZOOM_DIGITAL_BASE_FACTOR) {
+                        s_isOpticalZoomReachLimit = false;
+                        tempDigitalFactor = ZOOM_DIGITAL_BASE_FACTOR;
+                    }
+                }
+                s_cameraOpticalZoomFocalLength = (uint16_t) tempFocalLength;
+                s_cameraDigitalZoomFactor = tempDigitalFactor;
+            }
+#endif
+
+#if USER_CAMERA_EMU_TAP_ZOOM_ON
+            returnCode = osalHandler->MutexLock(s_tapZoomMutex);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+                goto out;
+            }
+
+            if (s_isStartTapZoom) {
+                s_isStartTapZoom = false;
+                s_isTapZooming = true;
+
+                returnCode = osalHandler->GetTimeMs(&s_tapZoomStartTime);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("get start time error: 0x%08llX.", returnCode);
+                }
+
+                returnCode = DjiTest_CameraRotationGimbal(s_tapZoomNewestGimbalRotationArgument);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+                    USER_LOG_ERROR("rotate gimbal error: 0x%08llX.", returnCode);
+                else
+                    s_cameraTapZoomState.isGimbalMoving = true;
+
+                returnCode = DjiTest_CameraHybridZoom(s_tapZoomNewestTargetHybridFocalLength);
+                if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    s_cameraTapZoomState.zoomState = (dji_f32_t) s_tapZoomNewestTargetHybridFocalLength >
+                                                     ((dji_f32_t) s_cameraOpticalZoomFocalLength *
+                                                      s_cameraDigitalZoomFactor)
+                                                     ? DJI_CAMERA_TAP_ZOOM_STATE_ZOOM_IN
+                                                     : DJI_CAMERA_TAP_ZOOM_STATE_ZOOM_OUT;
+                } else if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_OUT_OF_RANGE) {
+                    USER_LOG_ERROR("hybrid zoom focal length beyond limit.");
+                    s_cameraTapZoomState.zoomState = DJI_CAMERA_TAP_ZOOM_STATE_ZOOM_LIMITED;
+                } else {
+                    USER_LOG_ERROR("hybrid zoom error: 0x%08llX.", returnCode);
+                }
+            } else if (s_isTapZooming) {
+                returnCode = osalHandler->GetTimeMs(&currentTime);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("get start time error: 0x%08llX.", returnCode);
+                }
+
+                if ((currentTime - s_tapZoomStartTime) >= TAP_ZOOM_DURATION) {
+                    s_cameraTapZoomState.zoomState = DJI_CAMERA_TAP_ZOOM_STATE_IDLE;
+                    s_cameraTapZoomState.isGimbalMoving = false;
+                    s_isTapZooming = false;
+                }
+            }
+
+            returnCode = osalHandler->MutexUnlock(s_tapZoomMutex);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+                goto out;
+            }
+#endif
+
+out:
+            returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+                continue;
+            }
+        }
+
+        // 1Hz
+        if (USER_UTIL_IS_WORK_TURN(step, 1, PAYLOAD_CAMERA_EMU_TASK_FREQ)) {
+            returnCode = osalHandler->MutexLock(s_commonMutex);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+                continue;
+            }
+
+            if (s_cameraState.isRecording) {
+                s_cameraState.currentVideoRecordingTimeInSeconds++;
+                s_cameraSDCardState.remainSpaceInMB =
+                    s_cameraSDCardState.remainSpaceInMB - SDCARD_PER_SECONDS_RECORD_SPACE_IN_MB;
+                if (s_cameraSDCardState.remainSpaceInMB > SDCARD_TOTAL_SPACE_IN_MB) {
+                    s_cameraSDCardState.remainSpaceInMB = 0;
+                    s_cameraSDCardState.isFull = true;
+                }
+            }
+
+            if (s_cameraState.isShootingIntervalStart == false) {
+                isStartIntervalPhotoAction = false;
+            }
+
+            if (s_cameraShootPhotoMode == DJI_CAMERA_SHOOT_PHOTO_MODE_INTERVAL
+                && s_cameraState.isShootingIntervalStart == true && s_cameraPhotoTimeIntervalSettings.captureCount > 0
+                && s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds > 0) {
+                s_cameraState.currentPhotoShootingIntervalTimeInSeconds--;
+
+                if ((s_cameraState.currentPhotoShootingIntervalTimeInSeconds == 0 &&
+                     s_cameraState.currentPhotoShootingIntervalCount > 0) ||
+                    (s_cameraState.isShootingIntervalStart == true && isStartIntervalPhotoAction == false)) {
+
+                    isStartIntervalPhotoAction = true;
+
+                    s_cameraState.shootingState = DJI_CAMERA_SHOOTING_INTERVAL_PHOTO;
+                    s_cameraState.isStoring = true;
+                    s_cameraState.currentPhotoShootingIntervalTimeInSeconds
+                        = s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds;
+                    if (s_cameraState.currentPhotoShootingIntervalCount < INTERVAL_PHOTOGRAPH_ALWAYS_COUNT) {
+                        USER_LOG_INFO("interval taking photograph count:%d interval_time:%ds",
+                                      (s_cameraPhotoTimeIntervalSettings.captureCount -
+                                       s_cameraState.currentPhotoShootingIntervalCount + 1),
+                                      s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds);
+                                        JZsdk_Psdk_UI_io_ShootPhoto();
+                        s_cameraState.currentPhotoShootingIntervalCount--;
+                        if (s_cameraState.currentPhotoShootingIntervalCount == 0) {
+                            s_cameraState.shootingState = DJI_CAMERA_SHOOTING_PHOTO_IDLE;
+                            s_cameraState.isStoring = false;
+                            s_cameraState.isShootingIntervalStart = false;
+                        }
+                    } else {
+                        USER_LOG_INFO("interval taking photograph always, interval_time:%ds",
+                                      s_cameraPhotoTimeIntervalSettings.timeIntervalSeconds);
+                                        JZsdk_Psdk_UI_io_ShootPhoto();
+
+                        s_cameraState.currentPhotoShootingIntervalCount--;
+                    }
+                }
+            }
+
+            returnCode = osalHandler->MutexUnlock(s_commonMutex);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+                continue;
+            }
+        }
+    }
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+/* Private functions definition-----------------------------------------------*/
+// 照相机 菜单 基础 开始 服务
+T_DjiReturnCode DjiTest_CameraEmuBaseStartService(void)
+{
+    T_DjiReturnCode returnCode;
+    char ipAddr[DJI_IP_ADDR_STR_SIZE_MAX] = {0};
+    uint16_t port = 0;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0};
+
+    returnCode = osalHandler->MutexCreate(&s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("create mutex used to lock tap zoom arguments error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = osalHandler->MutexCreate(&s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("create mutex used to lock tap zoom arguments error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = osalHandler->MutexCreate(&s_tapZoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("create mutex used to lock tap zoom arguments error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiPayloadCamera_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("init payload camera error:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+// 初始化 sd卡的环境
+    /* Init the SDcard parameters */
+    s_cameraSDCardState.isInserted = true;
+    s_cameraSDCardState.isVerified = true;
+    s_cameraSDCardState.totalSpaceInMB = SDCARD_TOTAL_SPACE_IN_MB;
+    s_cameraSDCardState.remainSpaceInMB = SDCARD_TOTAL_SPACE_IN_MB;
+    s_cameraSDCardState.availableCaptureCount = SDCARD_TOTAL_SPACE_IN_MB / SDCARD_PER_PHOTO_SPACE_IN_MB;
+    s_cameraSDCardState.availableRecordingTimeInSeconds =
+        SDCARD_TOTAL_SPACE_IN_MB / SDCARD_PER_SECONDS_RECORD_SPACE_IN_MB;
+
+// 注册相机 指令 的 权柄
+    /* Register the camera common handler */
+    s_commonHandler.GetSystemState = GetSystemState;
+    s_commonHandler.SetMode = SetMode;
+    s_commonHandler.GetMode = DjiTest_CameraGetMode;
+    s_commonHandler.StartRecordVideo = StartRecordVideo;
+    s_commonHandler.StopRecordVideo = StopRecordVideo;
+    s_commonHandler.StartShootPhoto = StartShootPhoto;
+    s_commonHandler.StopShootPhoto = StopShootPhoto;
+    s_commonHandler.SetShootPhotoMode = SetShootPhotoMode;
+    s_commonHandler.GetShootPhotoMode = GetShootPhotoMode;
+    s_commonHandler.SetPhotoBurstCount = SetPhotoBurstCount;
+    s_commonHandler.GetPhotoBurstCount = GetPhotoBurstCount;
+    s_commonHandler.SetPhotoTimeIntervalSettings = SetPhotoTimeIntervalSettings;
+    s_commonHandler.GetPhotoTimeIntervalSettings = GetPhotoTimeIntervalSettings;
+    s_commonHandler.GetSDCardState = GetSDCardState;
+    s_commonHandler.FormatSDCard = FormatSDCard;
+
+    returnCode = DjiPayloadCamera_RegCommonHandler(&s_commonHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("camera register common handler error:0x%08llX", returnCode);
+    }
+
+    /* Register the camera metering handler */
+#if USER_CAMERA_EMU_METERING_ON
+    s_exposureMeteringHandler.SetMeteringMode = SetMeteringMode;
+    s_exposureMeteringHandler.GetMeteringMode = GetMeteringMode;
+    s_exposureMeteringHandler.SetSpotMeteringTarget = SetSpotMeteringTarget;
+    s_exposureMeteringHandler.GetSpotMeteringTarget = GetSpotMeteringTarget;
+
+    returnCode = DjiPayloadCamera_RegExposureMeteringHandler(&s_exposureMeteringHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("camera register exposure metering handler error:0x%08llX", returnCode);
+        return returnCode;
+    }
+#endif
+
+// 注册 相机 焦点 句柄
+    /* Register the camera focus handler */
+#if USER_CAMERA_EMU_FOCUS_ON
+    s_focusHandler.SetFocusMode = SetFocusMode;
+    s_focusHandler.GetFocusMode = GetFocusMode;
+    s_focusHandler.SetFocusTarget = SetFocusTarget;
+    s_focusHandler.GetFocusTarget = GetFocusTarget;
+    s_focusHandler.SetFocusAssistantSettings = SetFocusAssistantSettings;
+    s_focusHandler.GetFocusAssistantSettings = GetFocusAssistantSettings;
+    s_focusHandler.SetFocusRingValue = SetFocusRingValue;
+    s_focusHandler.GetFocusRingValue = GetFocusRingValue;
+    s_focusHandler.GetFocusRingValueUpperBound = GetFocusRingValueUpperBound;
+
+    returnCode = DjiPayloadCamera_RegFocusHandler(&s_focusHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("camera register adjustable focal point handler error:0x%08llX", returnCode);
+        return returnCode;
+    }
+#endif
+
+// 注册 相机 数码变焦 的句柄
+    /* Register the camera digital zoom handler */
+#if USER_CAMERA_EMU_HYBRID_ZOOM_ON
+    s_digitalZoomHandler.SetDigitalZoomFactor = SetDigitalZoomFactor;
+    s_digitalZoomHandler.GetDigitalZoomFactor = DjiTest_CameraGetDigitalZoomFactor;
+
+    returnCode = DjiPayloadCamera_RegDigitalZoomHandler(&s_digitalZoomHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("camera register digital zoom handler error:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+// 注册 相机 光学 变焦
+    /* Register the camera optical zoom handler */
+    s_opticalZoomHandler.SetOpticalZoomFocalLength = SetOpticalZoomFocalLength;
+    s_opticalZoomHandler.GetOpticalZoomFocalLength = GetOpticalZoomFocalLength;
+    s_opticalZoomHandler.GetOpticalZoomFactor = DjiTest_CameraGetOpticalZoomFactor;
+    s_opticalZoomHandler.GetOpticalZoomSpec = GetOpticalZoomSpec;
+    s_opticalZoomHandler.StartContinuousOpticalZoom = StartContinuousOpticalZoom;
+    s_opticalZoomHandler.StopContinuousOpticalZoom = StopContinuousOpticalZoom;
+
+    returnCode = DjiPayloadCamera_RegOpticalZoomHandler(&s_opticalZoomHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("camera register optical zoom handler error:0x%08llX", returnCode);
+        return returnCode;
+    }
+#endif
+
+// 注册 利用变焦
+    /* Register the camera tap zoom handler */
+#if USER_CAMERA_EMU_TAP_ZOOM_ON
+    s_tapZoomHandler.GetTapZoomState = GetTapZoomState;
+    s_tapZoomHandler.SetTapZoomEnabled = SetTapZoomEnabled;
+    s_tapZoomHandler.GetTapZoomEnabled = GetTapZoomEnabled;
+    s_tapZoomHandler.SetTapZoomMultiplier = SetTapZoomMultiplier;
+    s_tapZoomHandler.GetTapZoomMultiplier = GetTapZoomMultiplier;
+    s_tapZoomHandler.TapZoomAtTarget = TapZoomAtTarget;
+
+    returnCode = DjiPayloadCamera_RegTapZoomHandler(&s_tapZoomHandler);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("camera register tap zoom handler error:0x%08llX", returnCode);
+        return returnCode;
+    }
+#endif
+
+// 注册 相机的 菜单 任务
+    /* Create the camera emu taskHandle */
+    if (osalHandler->TaskCreate("user_camera_task", UserCamera_Task,
+                                PAYLOAD_CAMERA_EMU_TASK_STACK_SIZE, NULL, &s_userCameraThread)
+        != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("user camera taskHandle create error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+// 得到 相机 的 基础 信息
+    if (DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get aircraft information error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+// 设置 视频 流 的 类型
+    returnCode = DjiPayloadCamera_SetVideoStreamType(DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("DJI camera set video stream error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //设置传输视频的类型
+    s_cameraVideoStreamType = DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT;
+
+// 获取视频流远程地址   飞机云台的地址 
+    returnCode = DjiPayloadCamera_GetVideoStreamRemoteAddress(ipAddr, &port);
+    if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_DEBUG("Get video stream remote address: %s, port: %d", ipAddr, port);
+    } else {
+        USER_LOG_ERROR("get video stream remote address error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    s_isCamInited = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_CameraGetDigitalZoomFactor(dji_f32_t *factor)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    *factor = s_cameraDigitalZoomFactor;
+
+    returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_CameraGetOpticalZoomFactor(dji_f32_t *factor)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    //Formula:factor = currentFocalLength / minFocalLength
+    *factor = (dji_f32_t) s_cameraOpticalZoomFocalLength / ZOOM_OPTICAL_FOCAL_MIN_LENGTH;
+
+    returnCode = osalHandler->MutexUnlock(s_zoomMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_CameraGetMode(E_DjiCameraMode *mode)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    returnCode = osalHandler->MutexLock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    *mode = s_cameraState.cameraMode;
+
+    returnCode = osalHandler->MutexUnlock(s_commonMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_CameraGetVideoStreamType(E_DjiCameraVideoStreamType *type)
+{
+    if (s_isCamInited == false) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_NONSUPPORT_IN_CURRENT_STATE;
+    }
+
+    *type = s_cameraVideoStreamType;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+bool DjiTest_CameraIsInited(void)
+{
+    return s_isCamInited;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
+
+
+
+//手动添加 by ookk303
+// 0空闲中 1录像中 2单拍中 3连拍中 4转码中
+void  DJI_CamEmu_base_CameraTransLock(int flag)
+{
+    switch (flag)
+    {
+        case 0:
+        {
+            s_cameraState.isRecording = 0;
+            s_cameraState.isStoring = 0;
+            break;
+        }
+
+        case 1:
+        {
+            s_cameraState.isRecording = 1;
+            s_cameraState.isStoring = 0;
+            break;
+        }
+
+        case 2:
+        {
+            s_cameraState.isRecording = 0;
+            s_cameraState.isStoring = 1;
+            break;
+        }
+        
+        case 3:
+        {
+            s_cameraState.isRecording = 0;
+            s_cameraState.isStoring = 1;
+            break;
+        }
+
+        case 4:
+        {
+            s_cameraState.isRecording = 0;
+            s_cameraState.isStoring = 1;
+            break;
+        }
+
+        default:
+        break;
+    }
+}

+/**
+ ********************************************************************
+ * @file    test_payload_cam_emu_common.h
+ * @brief   This is the header file for "test_payload_cam_emu.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef TEST_PAYLOAD_CAM_EMU_BASE_H
+#define TEST_PAYLOAD_CAM_EMU_BASE_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+#include "dji_payload_camera.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_CameraEmuBaseStartService(void);
+T_DjiReturnCode DjiTest_CameraGetDigitalZoomFactor(dji_f32_t *factor);
+T_DjiReturnCode DjiTest_CameraGetOpticalZoomFactor(dji_f32_t *factor);
+T_DjiReturnCode DjiTest_CameraGetMode(E_DjiCameraMode *mode);
+T_DjiReturnCode DjiTest_CameraGetVideoStreamType(E_DjiCameraVideoStreamType *type);
+bool DjiTest_CameraIsInited(void);
+void  DJI_CamEmu_base_CameraTransLock(int flag);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_PAYLOAD_CAM_EMU_BASE_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

+/**
+ ********************************************************************
+ * @file    test_payload_cam_emu_media.c
+ * @brief
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include <fcntl.h>
+#include <stdlib.h>
+#include "dji_logger.h"
+#include "utils/util_misc.h"
+#include "utils/util_time.h"
+#include "utils/util_file.h"
+#include "utils/util_buffer.h"
+#include "test_payload_cam_emu_media.h"
+#include "test_payload_cam_emu_base.h"
+#include "camera_emu/dji_media_file_manage/dji_media_file_core.h"
+#include "dji_high_speed_data_channel.h"
+#include "dji_aircraft_info.h"
+
+#include "Dji_Control/DJI_VideoDeal.h"
+#include <pthread.h>
+
+/* Private constants ---------------------------------------------------------*/
+#define FFMPEG_CMD_BUF_SIZE                 (256 + 256)
+#define SEND_VIDEO_TASK_FREQ                 120
+#define VIDEO_FRAME_MAX_COUNT                18000 // max video duration 10 minutes
+#define VIDEO_FRAME_AUD_LEN                  6
+#define DATA_SEND_FROM_VIDEO_STREAM_MAX_LEN  60000
+
+//飞机传输通道值占比
+#define TRANS_RATIO_DATA                    (10)
+#define TRANS_RATIO_VIDEO                   (85)
+#define TRANS_RATIO_DOWNLOAD                (5)
+
+/* Private types -------------------------------------------------------------*/
+typedef enum {
+    TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_STOP = 0,
+    TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_PAUSE = 1,
+    TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_START = 2,
+} E_TestPayloadCameraPlaybackCommand;
+
+typedef struct {
+    uint8_t isInPlayProcess;
+    uint16_t videoIndex;
+    char filePath[DJI_FILE_PATH_SIZE_MAX];
+    uint32_t videoLengthMs;
+    uint64_t startPlayTimestampsUs;
+    uint64_t playPosMs;
+} T_DjiPlaybackInfo;
+
+typedef struct {
+    E_TestPayloadCameraPlaybackCommand command;
+    uint32_t timeMs;
+    char path[DJI_FILE_PATH_SIZE_MAX];
+} T_TestPayloadCameraPlaybackCommand;
+
+typedef struct {
+    float durationS;
+    uint32_t positionInFile;
+    uint32_t size;
+} T_TestPayloadCameraVideoFrameInfo;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiPlayback_StopPlay(T_DjiPlaybackInfo *playbackInfo);
+static T_DjiReturnCode DjiPlayback_PausePlay(T_DjiPlaybackInfo *playbackInfo);
+static T_DjiReturnCode DjiPlayback_SetPlayFile(T_DjiPlaybackInfo *playbackInfo, const char *filePath,
+                                               uint16_t index);
+static T_DjiReturnCode DjiPlayback_SeekPlay(T_DjiPlaybackInfo *playbackInfo, uint32_t seekPos);
+static T_DjiReturnCode DjiPlayback_StartPlay(T_DjiPlaybackInfo *playbackInfo);
+static T_DjiReturnCode DjiPlayback_GetPlaybackStatus(T_DjiPlaybackInfo *playbackInfo,
+                                                     T_DjiCameraPlaybackStatus *playbackStatus);
+static T_DjiReturnCode DjiPlayback_GetVideoLengthMs(const char *filePath, uint32_t *videoLengthMs);
+static T_DjiReturnCode DjiPlayback_StartPlayProcess(const char *filePath, uint32_t playPosMs);
+static T_DjiReturnCode DjiPlayback_StopPlayProcess(void);
+static T_DjiReturnCode
+DjiPlayback_VideoFileTranscode(const char *inPath, const char *outFormat, char *outPath, uint16_t outPathBufferSize);
+static T_DjiReturnCode
+DjiPlayback_GetFrameInfoOfVideoFile(const char *path, T_TestPayloadCameraVideoFrameInfo *frameInfo,
+                                    uint32_t frameInfoBufferCount, uint32_t *frameCount);
+static T_DjiReturnCode DjiPlayback_GetFrameRateOfVideoFile(const char *path, float *frameRate);
+static T_DjiReturnCode
+DjiPlayback_GetFrameNumberByTime(T_TestPayloadCameraVideoFrameInfo *frameInfo, uint32_t frameCount,
+                                 uint32_t *frameNumber, uint32_t timeMs);
+static T_DjiReturnCode GetMediaFileDir(char *dirPath);
+static T_DjiReturnCode GetMediaFileOriginData(const char *filePath, uint32_t offset, uint32_t length,
+                                              uint8_t *data);
+
+static T_DjiReturnCode CreateMediaFileThumbNail(const char *filePath);
+static T_DjiReturnCode GetMediaFileThumbNailInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo);
+static T_DjiReturnCode GetMediaFileThumbNailData(const char *filePath, uint32_t offset, uint32_t length,
+                                                 uint8_t *data);
+static T_DjiReturnCode DestroyMediaFileThumbNail(const char *filePath);
+
+static T_DjiReturnCode CreateMediaFileScreenNail(const char *filePath);
+static T_DjiReturnCode GetMediaFileScreenNailInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo);
+static T_DjiReturnCode GetMediaFileScreenNailData(const char *filePath, uint32_t offset, uint32_t length,
+                                                  uint8_t *data);
+static T_DjiReturnCode DestroyMediaFileScreenNail(const char *filePath);
+
+static T_DjiReturnCode DeleteMediaFile(char *filePath);
+static T_DjiReturnCode SetMediaPlaybackFile(const char *filePath);
+static T_DjiReturnCode StartMediaPlayback(void);
+static T_DjiReturnCode StopMediaPlayback(void);
+static T_DjiReturnCode PauseMediaPlayback(void);
+static T_DjiReturnCode SeekMediaPlayback(uint32_t playbackPosition);
+static T_DjiReturnCode GetMediaPlaybackStatus(T_DjiCameraPlaybackStatus *status);
+
+static T_DjiReturnCode StartDownloadNotification(void);
+static T_DjiReturnCode StopDownloadNotification(void);
+
+_Noreturn static void *UserCameraMedia_SendVideoTask(void *arg);
+_Noreturn static void *TestCameraMedia_SendVideoTask(void *arg);
+
+/* Private variables -------------------------------------------------------------*/
+static T_DjiCameraMediaDownloadPlaybackHandler s_psdkCameraMedia = {0};
+static T_DjiPlaybackInfo s_playbackInfo = {0};
+static T_DjiTaskHandle s_userSendVideoThread;
+static T_UtilBuffer s_mediaPlayCommandBufferHandler = {0};
+static T_DjiMutexHandle s_mediaPlayCommandBufferMutex = {0};
+static T_DjiSemaHandle s_mediaPlayWorkSem = NULL;
+static uint8_t s_mediaPlayCommandBuffer[sizeof(T_TestPayloadCameraPlaybackCommand) * 32] = {0};
+static const char *s_frameKeyChar = "[PACKET]";
+static const char *s_frameDurationTimeKeyChar = "duration_time";
+static const char *s_framePositionKeyChar = "pos";
+static const char *s_frameSizeKeyChar = "size";
+static T_DjiMediaFileHandle s_mediaFileThumbNailHandle;
+static T_DjiMediaFileHandle s_mediaFileScreenNailHandle;
+static const uint8_t s_frameAudInfo[VIDEO_FRAME_AUD_LEN] = {0x00, 0x00, 0x00, 0x01, 0x09, 0x10};
+static char s_mediaFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
+static bool s_isMediaFileDirPathConfigured = false;
+
+/* Exported functions definition ---------------------------------------------*/
+// 接口函数定义
+// 照相机 菜单 媒体 开始 服务
+
+T_DjiReturnCode DjiTest_CameraEmuMediaStartService(int mode)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiReturnCode returnCode;
+    const T_DjiDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportionOfHighspeedChannel =
+        {TRANS_RATIO_DATA, TRANS_RATIO_VIDEO, TRANS_RATIO_DOWNLOAD};
+
+    T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0};
+
+    if (DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get aircraft information error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    s_psdkCameraMedia.GetMediaFileDir = GetMediaFileDir;
+    s_psdkCameraMedia.GetMediaFileOriginInfo = DjiTest_CameraMediaGetFileInfo;
+    s_psdkCameraMedia.GetMediaFileOriginData = GetMediaFileOriginData;
+
+    s_psdkCameraMedia.CreateMediaFileThumbNail = CreateMediaFileThumbNail;
+    s_psdkCameraMedia.GetMediaFileThumbNailInfo = GetMediaFileThumbNailInfo;
+    s_psdkCameraMedia.GetMediaFileThumbNailData = GetMediaFileThumbNailData;
+    s_psdkCameraMedia.DestroyMediaFileThumbNail = DestroyMediaFileThumbNail;
+
+    s_psdkCameraMedia.CreateMediaFileScreenNail = CreateMediaFileScreenNail;
+    s_psdkCameraMedia.GetMediaFileScreenNailInfo = GetMediaFileScreenNailInfo;
+    s_psdkCameraMedia.GetMediaFileScreenNailData = GetMediaFileScreenNailData;
+    s_psdkCameraMedia.DestroyMediaFileScreenNail = DestroyMediaFileScreenNail;
+
+    s_psdkCameraMedia.DeleteMediaFile = DeleteMediaFile;
+
+    s_psdkCameraMedia.SetMediaPlaybackFile = SetMediaPlaybackFile;
+
+    s_psdkCameraMedia.StartMediaPlayback = StartMediaPlayback;
+    s_psdkCameraMedia.StopMediaPlayback = StopMediaPlayback;
+    s_psdkCameraMedia.PauseMediaPlayback = PauseMediaPlayback;
+    s_psdkCameraMedia.SeekMediaPlayback = SeekMediaPlayback;
+    s_psdkCameraMedia.GetMediaPlaybackStatus = GetMediaPlaybackStatus;
+
+    s_psdkCameraMedia.StartDownloadNotification = StartDownloadNotification;
+    s_psdkCameraMedia.StopDownloadNotification = StopDownloadNotification;
+
+    if (DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreCreate(0, &s_mediaPlayWorkSem)) {
+        USER_LOG_ERROR("SemaphoreCreate(\"%s\") error.", "s_mediaPlayWorkSem");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (osalHandler->MutexCreate(&s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("mutex create error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    UtilBuffer_Init(&s_mediaPlayCommandBufferHandler, s_mediaPlayCommandBuffer, sizeof(s_mediaPlayCommandBuffer));
+
+    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
+        returnCode = DjiPayloadCamera_RegMediaDownloadPlaybackHandler(&s_psdkCameraMedia);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("psdk camera media function init error.");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        }
+    }
+
+    returnCode = DjiHighSpeedDataChannel_SetBandwidthProportion(bandwidthProportionOfHighspeedChannel);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set data channel bandwidth width proportion error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (mode == 0)
+    {
+        // 大疆平台  获得 套接字 权柄
+        if (DjiPlatform_GetHalNetworkHandler() != NULL || DjiPlatform_GetHalUsbBulkHandler() != NULL) {
+            // 创建相机媒体任务，使用者相机媒体任务，
+            returnCode = osalHandler->TaskCreate("user_camera_media_task", UserCameraMedia_SendVideoTask, 2048,
+                                                NULL, &s_userSendVideoThread);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("user send video task create error.");
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+            }
+        }
+    }
+    else if (mode == 1)
+    {
+        if (DjiPlatform_GetHalNetworkHandler() != NULL || DjiPlatform_GetHalUsbBulkHandler() != NULL) {
+            // 创建测试图传线程
+            returnCode = osalHandler->TaskCreate("user_camera_media_task", TestCameraMedia_SendVideoTask, 2048,
+                                                NULL, &s_userSendVideoThread);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("user send video task create error.");
+                return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+            }
+        }
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_CameraEmuSetMediaFilePath(const char *path)
+{
+    memset(s_mediaFileDirPath, 0, sizeof(s_mediaFileDirPath));
+    memcpy(s_mediaFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_mediaFileDirPath) - 1));
+    s_isMediaFileDirPathConfigured = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode DjiTest_CameraMediaGetFileInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiMediaFileHandle mediaFileHandle;
+
+    returnCode = DjiMediaFile_CreateHandle(filePath, &mediaFileHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file create handle error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_GetMediaFileType(mediaFileHandle, &fileInfo->type);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get type error stat:0x%08llX", returnCode);
+        goto out;
+    }
+
+    returnCode = DjiMediaFile_GetMediaFileAttr(mediaFileHandle, &fileInfo->mediaFileAttr);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get attr error stat:0x%08llX", returnCode);
+        goto out;
+    }
+
+    returnCode = DjiMediaFile_GetFileSizeOrg(mediaFileHandle, &fileInfo->fileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get size error stat:0x%08llX", returnCode);
+        goto out;
+    }
+
+out:
+    returnCode = DjiMediaFile_DestroyHandle(mediaFileHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file destroy handle error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiPlayback_StopPlay(T_DjiPlaybackInfo *playbackInfo)
+{
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiPlayback_StopPlayProcess();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("stop play error ");
+    }
+
+    playbackInfo->isInPlayProcess = 0;
+    playbackInfo->playPosMs = 0;
+
+    return returnCode;
+}
+
+static T_DjiReturnCode DjiPlayback_PausePlay(T_DjiPlaybackInfo *playbackInfo)
+{
+    T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    T_TestPayloadCameraPlaybackCommand playbackCommand = {0};
+    if (playbackInfo->isInPlayProcess) {
+        playbackCommand.command = TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_PAUSE;
+
+        if (osalHandler->MutexLock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("mutex lock error");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        }
+
+        if (UtilBuffer_GetUnusedSize(&s_mediaPlayCommandBufferHandler) >= sizeof(T_TestPayloadCameraPlaybackCommand)) {
+            UtilBuffer_Put(&s_mediaPlayCommandBufferHandler, (const uint8_t *) &playbackCommand,
+                           sizeof(T_TestPayloadCameraPlaybackCommand));
+        } else {
+            USER_LOG_ERROR("Media playback command buffer is full.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_OUT_OF_RANGE;
+        }
+
+        if (osalHandler->MutexUnlock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("mutex unlock error");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        }
+        osalHandler->SemaphorePost(s_mediaPlayWorkSem);
+    }
+
+    playbackInfo->isInPlayProcess = 0;
+
+    return returnCode;
+}
+
+static T_DjiReturnCode DjiPlayback_SetPlayFile(T_DjiPlaybackInfo *playbackInfo, const char *filePath, uint16_t index)
+{
+    T_DjiReturnCode returnCode;
+
+    if (strlen(filePath) > DJI_FILE_PATH_SIZE_MAX) {
+        USER_LOG_ERROR("Dji playback file path out of length range error\n");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    strcpy(playbackInfo->filePath, filePath);
+    playbackInfo->videoIndex = index;
+
+    returnCode = DjiPlayback_GetVideoLengthMs(filePath, &playbackInfo->videoLengthMs);
+
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiPlayback_SeekPlay(T_DjiPlaybackInfo *playbackInfo, uint32_t seekPos)
+{
+    T_DjiRunTimeStamps ti;
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiPlayback_PausePlay(playbackInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("pause play error \n");
+        return returnCode;
+    }
+
+    playbackInfo->playPosMs = seekPos;
+    returnCode = DjiPlayback_StartPlayProcess(playbackInfo->filePath, playbackInfo->playPosMs);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("start playback process error \n");
+        return returnCode;
+    }
+
+    playbackInfo->isInPlayProcess = 1;
+    ti = DjiUtilTime_GetRunTimeStamps();
+    playbackInfo->startPlayTimestampsUs = ti.realUsec - playbackInfo->playPosMs * 1000;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiPlayback_StartPlay(T_DjiPlaybackInfo *playbackInfo)
+{
+    T_DjiRunTimeStamps ti;
+    T_DjiReturnCode returnCode;
+
+    if (playbackInfo->isInPlayProcess == 1) {
+        //already in playing, return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    returnCode = DjiPlayback_StartPlayProcess(playbackInfo->filePath, playbackInfo->playPosMs);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("start play process error \n");
+        return returnCode;
+    }
+
+    playbackInfo->isInPlayProcess = 1;
+
+    ti = DjiUtilTime_GetRunTimeStamps();
+    playbackInfo->startPlayTimestampsUs = ti.realUsec - playbackInfo->playPosMs * 1000;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiPlayback_GetPlaybackStatus(T_DjiPlaybackInfo *playbackInfo,
+                                                     T_DjiCameraPlaybackStatus *playbackStatus)
+{
+    T_DjiRunTimeStamps timeStamps;
+
+    memset(playbackStatus, 0, sizeof(T_DjiCameraPlaybackStatus));
+
+    //update playback pos info
+    if (playbackInfo->isInPlayProcess) {
+        timeStamps = DjiUtilTime_GetRunTimeStamps();
+        playbackInfo->playPosMs = (timeStamps.realUsec - playbackInfo->startPlayTimestampsUs) / 1000;
+
+        if (playbackInfo->playPosMs >= playbackInfo->videoLengthMs) {
+            if (DjiPlayback_PausePlay(playbackInfo) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+            }
+        }
+    }
+
+    //set playback status
+    if (playbackInfo->isInPlayProcess == 0 && playbackInfo->playPosMs != 0) {
+        playbackStatus->playbackMode = DJI_CAMERA_PLAYBACK_MODE_PAUSE;
+    } else if (playbackInfo->isInPlayProcess) {
+        playbackStatus->playbackMode = DJI_CAMERA_PLAYBACK_MODE_PLAY;
+    } else {
+        playbackStatus->playbackMode = DJI_CAMERA_PLAYBACK_MODE_STOP;
+    }
+
+    playbackStatus->playPosMs = playbackInfo->playPosMs;
+    playbackStatus->videoLengthMs = playbackInfo->videoLengthMs;
+
+    if (playbackInfo->videoLengthMs != 0) {
+        playbackStatus->videoPlayProcess =
+            (playbackInfo->videoLengthMs - playbackInfo->playPosMs) / playbackInfo->videoLengthMs;
+    } else {
+        playbackStatus->videoPlayProcess = 0;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+// 获取视频长度
+static T_DjiReturnCode DjiPlayback_GetVideoLengthMs(const char *filePath, uint32_t *videoLengthMs)
+{
+    FILE *fp;
+    T_DjiReturnCode returnCode;
+    char ffmpegCmdStr[FFMPEG_CMD_BUF_SIZE];
+    float hour, minute, second;
+    char tempTailStr[128];
+    int ret;
+
+    snprintf(ffmpegCmdStr, FFMPEG_CMD_BUF_SIZE, "ffmpeg -i \"%s\" 2>&1 | grep \"Duration\"", filePath);
+    fp = popen(ffmpegCmdStr, "r");
+
+    if (fp == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    ret = fscanf(fp, "  Duration: %f:%f:%f,%127s", &hour, &minute, &second, tempTailStr);
+    if (ret <= 0) {
+        USER_LOG_ERROR("MP4 File Get Duration Error\n");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+
+    *videoLengthMs = (uint32_t) ((hour * 3600 + minute * 60 + second) * 1000);
+    returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    pclose(fp);
+
+    return returnCode;
+}
+
+
+// 开始播放进程
+static T_DjiReturnCode DjiPlayback_StartPlayProcess(const char *filePath, uint32_t playPosMs)
+{
+    T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    T_TestPayloadCameraPlaybackCommand mediaPlayCommand = {0};
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    mediaPlayCommand.command = TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_START;
+    mediaPlayCommand.timeMs = playPosMs;
+
+    if (strlen(filePath) >= sizeof(mediaPlayCommand.path)) {
+        USER_LOG_ERROR("File path is too long.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_OUT_OF_RANGE;
+    }
+    memcpy(mediaPlayCommand.path, filePath, strlen(filePath));
+
+    if (osalHandler->MutexLock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("mutex lock error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (UtilBuffer_GetUnusedSize(&s_mediaPlayCommandBufferHandler) >= sizeof(T_TestPayloadCameraPlaybackCommand)) {
+        UtilBuffer_Put(&s_mediaPlayCommandBufferHandler, (const uint8_t *) &mediaPlayCommand,
+                       sizeof(T_TestPayloadCameraPlaybackCommand));
+    } else {
+        USER_LOG_ERROR("Media playback command buffer is full.");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_OUT_OF_RANGE;
+    }
+
+    if (osalHandler->MutexUnlock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("mutex unlock error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+    osalHandler->SemaphorePost(s_mediaPlayWorkSem);
+    return returnCode;
+}
+
+static T_DjiReturnCode DjiPlayback_StopPlayProcess(void)
+{
+    T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    T_TestPayloadCameraPlaybackCommand playbackCommand = {0};
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    playbackCommand.command = TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_STOP;
+
+    if (osalHandler->MutexLock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("mutex lock error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    if (UtilBuffer_GetUnusedSize(&s_mediaPlayCommandBufferHandler) >= sizeof(T_TestPayloadCameraPlaybackCommand)) {
+        UtilBuffer_Put(&s_mediaPlayCommandBufferHandler, (const uint8_t *) &playbackCommand,
+                       sizeof(T_TestPayloadCameraPlaybackCommand));
+    } else {
+        USER_LOG_ERROR("Media playback command buffer is full.");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_OUT_OF_RANGE;
+    }
+
+    if (osalHandler->MutexUnlock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("mutex unlock error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+    osalHandler->SemaphorePost(s_mediaPlayWorkSem);
+    return returnCode;
+}
+
+static T_DjiReturnCode DjiPlayback_VideoFileTranscode(const char *inPath, const char *outFormat, char *outPath,
+                                                      uint16_t outPathBufferSize)
+{
+    T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    T_DjiReturnCode djiStatus = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    FILE *fpCommand = NULL;
+    char ffmpegCmdStr[FFMPEG_CMD_BUF_SIZE];
+    char *directory = NULL;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    directory = osalHandler->Malloc(DJI_FILE_PATH_SIZE_MAX);
+    if (directory == NULL) {
+        USER_LOG_ERROR("malloc memory for directory fail.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+  //  USER_LOG_INFO("inPath%s",inPath);
+
+    djiStatus = DjiUserUtil_GetCurrentFileDirPath(inPath, DJI_FILE_PATH_SIZE_MAX, directory);
+    if (djiStatus != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get directory of file error: 0x%08llX.", djiStatus);
+        returnCode = djiStatus;
+        goto out;
+    }
+
+   // USER_LOG_INFO("inPath%s",inPath);
+
+    snprintf(outPath, outPathBufferSize, "%sout.%s", directory, outFormat);
+    // 结果为 /root/sdcard/media_file/out.h264  
+    USER_LOG_INFO("%sout.%s ", directory, outFormat);
+    snprintf(ffmpegCmdStr, FFMPEG_CMD_BUF_SIZE,
+             "echo \"y\" | ffmpeg -i \"%s\" -codec copy -f \"%s\" \"%s\" 1>/dev/null 2>&1", inPath,
+             outFormat, outPath);
+    // 结果为 echo "y" | ffmpeg -i "/root/sdcard/media_file/PSDK_0005.h264" -codec copy -f "h264" "/root/sdcard/media_file/out.h264" 1>/dev/null 2>&1 
+    USER_LOG_INFO("ffmpegCmdStr:%s",ffmpegCmdStr);
+    fpCommand = popen(ffmpegCmdStr, "r");
+    if (fpCommand == NULL) {
+        USER_LOG_ERROR("execute transcode command fail.");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        goto out;
+    }
+
+    pclose(fpCommand);
+
+out:
+    osalHandler->Free(directory);
+
+    return returnCode;
+}
+
+
+// 获得视频的帧信息
+static T_DjiReturnCode
+DjiPlayback_GetFrameInfoOfVideoFile(const char *path, T_TestPayloadCameraVideoFrameInfo *frameInfo,
+                                    uint32_t frameInfoBufferCount, uint32_t *frameCount)
+{
+    long ret;
+    T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    FILE *fpCommand = NULL;
+    char ffmpegCmdStr[FFMPEG_CMD_BUF_SIZE];
+    char *frameInfoString = NULL;
+    char *frameLocation = NULL;
+    char frameParameterFormat[50] = {0};
+    char *frameDurationTimeLocation = NULL;
+    float frameDurationTimeS = 0;
+    uint32_t frameNumber = 0;
+    char *framePositionLocation = NULL;
+    uint32_t framePosition = 0;
+    char *frameSizeLocation = NULL;
+    uint32_t frameSize = 0;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    frameInfoString = osalHandler->Malloc(VIDEO_FRAME_MAX_COUNT * 1024);
+    if (frameInfoString == NULL) {
+        USER_LOG_ERROR("malloc memory for frame info fail.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+    memset(frameInfoString, 0, VIDEO_FRAME_MAX_COUNT * 1024);
+
+    snprintf(ffmpegCmdStr, FFMPEG_CMD_BUF_SIZE, "ffprobe -show_packets \"%s\" 2>/dev/null", path);
+    fpCommand = popen(ffmpegCmdStr, "r");
+    if (fpCommand == NULL) {
+        USER_LOG_ERROR("execute show frames commands fail.");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        goto out2;
+    }
+
+    ret = (long) fread(frameInfoString, 1, VIDEO_FRAME_MAX_COUNT * 1024, fpCommand);
+    if (ret < 0) {
+        USER_LOG_ERROR("read show frames commands result error.");
+        goto out1;
+    }
+    frameInfoString[ret] = '\0';
+
+    frameLocation = frameInfoString;
+    *frameCount = 0;
+    while (1) {
+        // find frame
+        frameLocation = strstr(frameLocation, s_frameKeyChar);
+        if (frameLocation == NULL) {
+            USER_LOG_DEBUG("reach file tail.");
+            break;
+        }
+
+        // find frame duration
+        frameDurationTimeLocation = strstr(frameLocation, s_frameDurationTimeKeyChar);
+        if (frameDurationTimeLocation == NULL) {
+            USER_LOG_ERROR("can not find pkt_duration_time.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+            goto out1;
+        }
+
+        ret = snprintf(frameParameterFormat, sizeof(frameParameterFormat), "%s=%%f", s_frameDurationTimeKeyChar);
+        if (ret < 0) {
+            USER_LOG_ERROR("snprintf frameParameterFormat fail.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+            goto out1;
+        }
+
+        ret = sscanf(frameDurationTimeLocation, frameParameterFormat, &frameDurationTimeS);
+        if (ret <= 0) {
+            USER_LOG_ERROR("can not find pkt_duration_time.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+            goto out1;
+        }
+        frameInfo[frameNumber].durationS = frameDurationTimeS;
+
+        // find frame position
+        framePositionLocation = strstr(frameLocation, s_framePositionKeyChar);
+        if (framePositionLocation == NULL) {
+            USER_LOG_ERROR("can not found pkt_pos.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+            goto out1;
+        }
+
+        ret = snprintf(frameParameterFormat, sizeof(frameParameterFormat), "%s=%%d", s_framePositionKeyChar);
+        if (ret < 0) {
+            USER_LOG_ERROR("snprintf frameParameterFormat fail.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+            goto out1;
+        }
+
+        ret = sscanf(framePositionLocation, frameParameterFormat, &framePosition);
+        if (ret <= 0) {
+            USER_LOG_ERROR("can not found pkt_pos.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+            goto out1;
+        }
+        frameInfo[frameNumber].positionInFile = framePosition;
+
+        // find frame size
+        //frameSizeLocation 由 frameLocation s_frameSizeKeyChar 拼接而成
+        
+        frameSizeLocation = strstr(frameLocation, s_frameSizeKeyChar);
+        if (frameSizeLocation == NULL) {
+            USER_LOG_ERROR("can not found pkt_size.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+            goto out1;
+        }
+
+        ret = snprintf(frameParameterFormat, sizeof(frameParameterFormat), "%s=%%d", s_frameSizeKeyChar);
+        if (ret < 0) {
+            USER_LOG_ERROR("snprintf frameParameterFormat fail.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+            goto out1;
+        }
+
+
+        // 从frameSizeLocation 读取数据流 到 frameSize
+        ret = sscanf(frameSizeLocation, frameParameterFormat, &frameSize);
+        if (ret <= 0) {
+            USER_LOG_ERROR("can not find pkt_size.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+            goto out1;
+        }
+        frameInfo[frameNumber].size = frameSize;
+
+        frameLocation += strlen(s_frameKeyChar);
+        frameNumber++;
+        (*frameCount)++;
+
+        if (frameNumber >= frameInfoBufferCount) {
+            USER_LOG_ERROR("frame buffer is full.");
+            returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_OUT_OF_RANGE;
+            goto out1;
+        }
+    }
+
+out1:
+    pclose(fpCommand);
+
+out2:
+    osalHandler->Free(frameInfoString);
+
+    return returnCode;
+}
+
+
+//获取视频的帧速率
+static T_DjiReturnCode DjiPlayback_GetFrameRateOfVideoFile(const char *path, float *frameRate)
+{
+    int ret;
+    T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    FILE *fpCommand = NULL;
+    char ffmpegCmdStr[FFMPEG_CMD_BUF_SIZE] = {0};
+    int frameRateMolecule = 0;
+    int frameRateDenominator = 0;
+
+
+    //改动 手动获取
+    //path = "/root/sdcard/media_file/PSDK_0005.h264";
+
+    //查看文件流信息指令  ffprobe -show_frames filename
+    //ffprobe -show_streams "/root/sdcard/media_file/PSDK_0005.h264" 2>/dev/null | grep r_frame_rate
+
+    snprintf(ffmpegCmdStr, FFMPEG_CMD_BUF_SIZE, "ffprobe -show_streams \"%s\" 2>/dev/null | grep r_frame_rate", path);
+    fpCommand = popen(ffmpegCmdStr, "r");
+    if (fpCommand == NULL) {
+        USER_LOG_ERROR("execute show frame rate command fail.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    USER_LOG_INFO("ffmpegCmdStr:%s", ffmpegCmdStr);
+
+    //此处报错
+    // 从fpcommand中读取数据 %d %d 放入到frameRateMolecule frameRateDenominator
+    // 失败返还-1f
+    
+    ret = fscanf(fpCommand, "r_frame_rate=%d/%d", &frameRateMolecule, &frameRateDenominator);
+    if (ret <= 0) {
+        USER_LOG_ERROR("can not find frame rate.");
+        returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+        goto out;
+    }
+    *frameRate = (float) frameRateMolecule / (float) frameRateDenominator;
+
+out:
+    pclose(fpCommand);
+
+    return returnCode;
+}
+
+//获取视频帧数
+static T_DjiReturnCode DjiPlayback_GetFrameNumberByTime(T_TestPayloadCameraVideoFrameInfo *frameInfo,
+                                                        uint32_t frameCount, uint32_t *frameNumber, uint32_t timeMs)
+{
+    uint32_t i = 0;
+    double camulativeTimeS = 0;
+    double timeS = (double) timeMs / 1000.0;
+
+    for (i = 0; i < frameCount; ++i) {
+        camulativeTimeS += frameInfo[i].durationS;
+
+        if (camulativeTimeS >= timeS) {
+            *frameNumber = i;
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+        }
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
+}
+
+static T_DjiReturnCode GetMediaFileDir(char *dirPath)
+{
+    T_DjiReturnCode returnCode;
+    char curFileDirPath[DJI_FILE_PATH_SIZE_MAX];
+    char tempPath[DJI_FILE_PATH_SIZE_MAX];
+
+    USER_LOG_INFO("自动获取相册地址");
+    // returnCode = DjiUserUtil_GetCurrentFileDirPath("/root/sdcard/DCIM", DJI_FILE_PATH_SIZE_MAX, curFileDirPath);
+    // if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    //     USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
+    //     return returnCode;
+    // }
+
+    snprintf(curFileDirPath,DJI_FILE_PATH_SIZE_MAX,"/root/sdcard/DCIM");
+    snprintf(dirPath, DJI_FILE_PATH_SIZE_MAX, "%s", curFileDirPath);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetMediaFileOriginData(const char *filePath, uint32_t offset, uint32_t length, uint8_t *data)
+{
+    T_DjiReturnCode returnCode;
+    uint32_t realLen = 0;
+    T_DjiMediaFileHandle mediaFileHandle;
+
+    returnCode = DjiMediaFile_CreateHandle(filePath, &mediaFileHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file create handle error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_GetDataOrg(mediaFileHandle, offset, length, data, &realLen);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get data error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_DestroyHandle(mediaFileHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file destroy handle error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode CreateMediaFileThumbNail(const char *filePath)
+{
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiMediaFile_CreateHandle(filePath, &s_mediaFileThumbNailHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file create handle error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_CreateThm(s_mediaFileThumbNailHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file create thumb nail error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetMediaFileThumbNailInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_UTIL_UNUSED(filePath);
+
+    if (s_mediaFileThumbNailHandle == NULL) {
+        USER_LOG_ERROR("Media file thumb nail handle null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = DjiMediaFile_GetMediaFileType(s_mediaFileThumbNailHandle, &fileInfo->type);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get type error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_GetMediaFileAttr(s_mediaFileThumbNailHandle, &fileInfo->mediaFileAttr);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get attr error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_GetFileSizeThm(s_mediaFileThumbNailHandle, &fileInfo->fileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get size error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetMediaFileThumbNailData(const char *filePath, uint32_t offset, uint32_t length, uint8_t *data)
+{
+    T_DjiReturnCode returnCode;
+    uint16_t realLen = 0;
+
+    USER_UTIL_UNUSED(filePath);
+
+    if (s_mediaFileThumbNailHandle == NULL) {
+        USER_LOG_ERROR("Media file thumb nail handle null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = DjiMediaFile_GetDataThm(s_mediaFileThumbNailHandle, offset, length, data, &realLen);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get data error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DestroyMediaFileThumbNail(const char *filePath)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_UTIL_UNUSED(filePath);
+
+    if (s_mediaFileThumbNailHandle == NULL) {
+        USER_LOG_ERROR("Media file thumb nail handle null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = DjiMediaFile_DestoryThm(s_mediaFileThumbNailHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file destroy thumb nail error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_DestroyHandle(s_mediaFileThumbNailHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file destroy handle error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode CreateMediaFileScreenNail(const char *filePath)
+{
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiMediaFile_CreateHandle(filePath, &s_mediaFileScreenNailHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file create handle error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_CreateScr(s_mediaFileScreenNailHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file create screen nail error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetMediaFileScreenNailInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_UTIL_UNUSED(filePath);
+
+    if (s_mediaFileScreenNailHandle == NULL) {
+        USER_LOG_ERROR("Media file screen nail handle null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = DjiMediaFile_GetMediaFileType(s_mediaFileScreenNailHandle, &fileInfo->type);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get type error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_GetMediaFileAttr(s_mediaFileScreenNailHandle, &fileInfo->mediaFileAttr);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get attr error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_GetFileSizeScr(s_mediaFileScreenNailHandle, &fileInfo->fileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get size error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode GetMediaFileScreenNailData(const char *filePath, uint32_t offset, uint32_t length,
+                                                  uint8_t *data)
+{
+    T_DjiReturnCode returnCode;
+    uint16_t realLen = 0;
+
+    USER_UTIL_UNUSED(filePath);
+
+    if (s_mediaFileScreenNailHandle == NULL) {
+        USER_LOG_ERROR("Media file screen nail handle null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = DjiMediaFile_GetDataScr(s_mediaFileScreenNailHandle, offset, length, data, &realLen);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file get size error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DestroyMediaFileScreenNail(const char *filePath)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_UTIL_UNUSED(filePath);
+
+    if (s_mediaFileScreenNailHandle == NULL) {
+        USER_LOG_ERROR("Media file screen nail handle null error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    returnCode = DjiMediaFile_DestroyScr(s_mediaFileScreenNailHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file destroy screen nail error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiMediaFile_DestroyHandle(s_mediaFileScreenNailHandle);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file destroy handle error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DeleteMediaFile(char *filePath)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_LOG_INFO("delete media file:%s", filePath);
+    returnCode = DjiFile_Delete(filePath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Media file delete error stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode SetMediaPlaybackFile(const char *filePath)
+{
+    USER_LOG_INFO("set media playback file:%s", filePath);
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiPlayback_StopPlay(&s_playbackInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        return returnCode;
+    }
+
+    returnCode = DjiPlayback_SetPlayFile(&s_playbackInfo, filePath, 0);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        return returnCode;
+    }
+
+    returnCode = DjiPlayback_StartPlay(&s_playbackInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode StartMediaPlayback(void)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_LOG_INFO("start media playback");
+    returnCode = DjiPlayback_StartPlay(&s_playbackInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("start media playback status error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return returnCode;
+}
+
+static T_DjiReturnCode StopMediaPlayback(void)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_LOG_INFO("stop media playback");
+    returnCode = DjiPlayback_StopPlay(&s_playbackInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("stop media playback error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return returnCode;
+}
+
+static T_DjiReturnCode PauseMediaPlayback(void)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_LOG_INFO("pause media playback");
+    returnCode = DjiPlayback_PausePlay(&s_playbackInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("pause media playback error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return returnCode;
+}
+
+static T_DjiReturnCode SeekMediaPlayback(uint32_t playbackPosition)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_LOG_INFO("seek media playback:%d", playbackPosition);
+    returnCode = DjiPlayback_SeekPlay(&s_playbackInfo, playbackPosition);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("seek media playback error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    return returnCode;
+}
+
+static T_DjiReturnCode GetMediaPlaybackStatus(T_DjiCameraPlaybackStatus *status)
+{
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiPlayback_GetPlaybackStatus(&s_playbackInfo, status);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get playback status error, stat:0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    status->videoPlayProcess = (uint8_t) (((float) s_playbackInfo.playPosMs / (float) s_playbackInfo.videoLengthMs) *
+                                          100);
+
+    USER_LOG_DEBUG("get media playback status %d %d %d %d", status->videoPlayProcess, status->playPosMs,
+                   status->videoLengthMs, status->playbackMode);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode StartDownloadNotification(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportion = {0};
+
+    USER_LOG_DEBUG("media download start notification.");
+
+    bandwidthProportion.dataStream = 0;
+    bandwidthProportion.videoStream = 0;
+    bandwidthProportion.downloadStream = 100;
+
+    returnCode = DjiHighSpeedDataChannel_SetBandwidthProportion(bandwidthProportion);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set bandwidth proportion for high speed channel error, stat:0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode StopDownloadNotification(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportion = {0};
+
+    USER_LOG_DEBUG("media download stop notification.");
+
+    bandwidthProportion.dataStream = TRANS_RATIO_DATA;
+    bandwidthProportion.videoStream = TRANS_RATIO_VIDEO;
+    bandwidthProportion.downloadStream = TRANS_RATIO_DOWNLOAD;
+
+    returnCode = DjiHighSpeedDataChannel_SetBandwidthProportion(bandwidthProportion);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set bandwidth proportion for high speed channel error, stat:0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+#endif
+
+
+
+// 任务
+static void *UserCameraMedia_SendVideoTask(void *arg)
+{
+    int ret;
+    // 回调错误
+    T_DjiReturnCode returnCode;
+    //发送视频的阶数                                      
+    static uint32_t sendVideoStep = 0;
+    // 传输的视频文件                                   
+    FILE *fpFile = NULL;
+     //传输数据长度 一帧不能超过65kb 超过需要分割                                                 
+    unsigned long dataLength = 0;
+     // 将要发送的产度                                      
+    uint16_t lengthOfDataToBeSent = 0;
+     // 上次已发送的长度                                 
+    int lengthOfDataHaveBeenSent = 0;
+    // 视频数据队列
+    char *dataBuffer = NULL;
+    // 回放指令                                             
+    T_TestPayloadCameraPlaybackCommand playbackCommand = {0};
+    //            
+    uint16_t bufferReadSize = 0;
+    // 视频文件的地址
+    char *videoFilePath = NULL;
+     // 转码文件的地址                                     
+    char *transcodedFilePath = NULL;
+    float frameRate = 1.0f;
+    uint32_t waitDuration = 1000 / SEND_VIDEO_TASK_FREQ;
+    uint32_t rightNow = 0;
+    uint32_t sendExpect = 0;
+    // 帧信息
+    T_TestPayloadCameraVideoFrameInfo *frameInfo = NULL;
+    // 帧数               
+    uint32_t frameNumber = 0;
+     // 总帧                                       
+    uint32_t frameCount = 0;
+     // 开始时间的 延迟                                        
+    uint32_t startTimeMs = 0;
+    // 发送文件的标识                                       
+    bool sendVideoFlag = true;
+    // 发送 一次 的 时间 标示                                       
+    bool sendOneTimeFlag = false;
+    // 视频流状态                            
+    T_DjiDataChannelState videoStreamState = {0};
+    // 拍照模式
+    E_DjiCameraMode mode = DJI_CAMERA_MODE_SHOOT_PHOTO;
+    // ousl硬件层 句柄              
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint32_t frameBufSize = 0;
+    // 视频流类型
+    E_DjiCameraVideoStreamType videoStreamType;
+    // 通用 文件路径                         
+    char curFileDirPath[DJI_FILE_PATH_SIZE_MAX];
+    // 临时路径                 
+    char tempPath[DJI_FILE_PATH_SIZE_MAX];
+
+    USER_UTIL_UNUSED(arg);
+
+
+    // 获取视频流文件信息
+    // 获取 通用地址 的错误
+    returnCode = DjiUserUtil_GetCurrentFileDirPath("/root/sdcard/DCIM", DJI_FILE_PATH_SIZE_MAX, curFileDirPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
+        pthread_exit(NULL);
+    }
+
+    USER_LOG_INFO("curFileDirPath:%s",curFileDirPath);
+
+    if (s_isMediaFileDirPathConfigured == true) {
+        snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%sPSDK_0005.h264", s_mediaFileDirPath);
+    } else {
+        snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smedia_file/PSDK_0005.h264", curFileDirPath);
+    }
+    
+    // 写入用于推送文件的临时地址
+   // USER_LOG_INFO("tempPath:%s",tempPath);
+    
+    // 视频流处理线程初始化
+    // 为视频文件申请
+    videoFilePath = osalHandler->Malloc(DJI_FILE_PATH_SIZE_MAX);
+    if (videoFilePath == NULL) {
+        USER_LOG_ERROR("malloc memory for video file path fail.");
+        pthread_exit(NULL);
+    }
+
+    // 转码文件的地址
+    transcodedFilePath = osalHandler->Malloc(DJI_FILE_PATH_SIZE_MAX);
+    if (transcodedFilePath == NULL) {
+        USER_LOG_ERROR("malloc memory for transcoded file path fail.");
+        pthread_exit(NULL);
+    }
+
+    // 帧信息
+    frameInfo = osalHandler->Malloc(VIDEO_FRAME_MAX_COUNT * sizeof(T_TestPayloadCameraVideoFrameInfo));
+    if (frameInfo == NULL) {
+        USER_LOG_ERROR("malloc memory for frame info fail.");
+        pthread_exit(NULL);
+    }
+    memset(frameInfo, 0, VIDEO_FRAME_MAX_COUNT * sizeof(T_TestPayloadCameraVideoFrameInfo));
+
+
+    //停止 回放播放程序
+    returnCode = DjiPlayback_StopPlayProcess();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("stop playback and start liveview error: 0x%08llX.", returnCode);
+        pthread_exit(NULL);
+    }
+
+    (void)osalHandler->GetTimeMs(&rightNow);
+    sendExpect = rightNow + waitDuration;
+    while (1) {
+        // (void)osalHandler->GetTimeMs(&rightNow);
+        // if (sendExpect > rightNow) {
+        //     waitDuration = sendExpect - rightNow;
+        // } else {
+        //     waitDuration = 1000 / SEND_VIDEO_TASK_FREQ;
+        // }
+        // (void)osalHandler->SemaphoreTimedWait(s_mediaPlayWorkSem, waitDuration);
+        osalHandler->TaskSleepMs(40);
+
+    // response playback command
+     // 响应播放命令
+    if (osalHandler->MutexLock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("mutex lock error");
+        continue;
+    }
+
+    bufferReadSize = UtilBuffer_Get(&s_mediaPlayCommandBufferHandler, (uint8_t *) &playbackCommand,
+                                    sizeof(T_TestPayloadCameraPlaybackCommand));
+
+    if (osalHandler->MutexUnlock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("mutex unlock error"); //互斥锁 解锁 失败
+        continue;
+    }
+
+    //&& playbackCommand.command != TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_STOP
+    // if (bufferReadSize != sizeof(T_TestPayloadCameraPlaybackCommand)  && playbackCommand.command != TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_STOP)
+    // {
+    //     goto send;
+    // }
+
+    returnCode = DjiTest_CameraGetVideoStreamType(&videoStreamType);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        continue;
+    }
+
+    //printf("视频流类型videoStreamType%d\n",videoStreamType);
+
+// 根据 输入的指令 选择功能
+    switch (playbackCommand.command) {
+        case TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_STOP:
+            //snprintf(videoFilePath, DJI_FILE_PATH_SIZE_MAX, "%s", tempPath);
+            startTimeMs = 0;
+            //sendVideoFlag = true;
+            //sendOneTimeFlag = false;
+
+            //录像回放函数
+            DJI_VideoReplay_input(playbackCommand.command, 0, NULL);
+            goto Push_end;
+            
+        break;
+
+         // 暂停视频播放
+        case TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_PAUSE:
+            //sendVideoFlag = false;
+            //goto send;
+            //录像回放函数
+            DJI_VideoReplay_input(playbackCommand.command, 0, NULL);
+
+            goto Push_end;
+        break;
+
+        // 开始视频播放
+        case TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_START:
+            //snprintf(videoFilePath, DJI_FILE_PATH_SIZE_MAX, "%s", playbackCommand.path);
+            startTimeMs = playbackCommand.timeMs;
+            // sendVideoFlag = true;
+            // sendOneTimeFlag = true;     
+            
+            //录像回放函数
+            DJI_VideoReplay_input(playbackCommand.command,  playbackCommand.timeMs, playbackCommand.path);
+
+            goto Push_end;   
+        break;
+        // 其余输入    负载的指令无效
+        default:
+            USER_LOG_ERROR("playback command invalid: %d.", playbackCommand.command);
+            sendVideoFlag = false;
+            goto send;
+    }
+
+    // video send preprocess 视频发送预处理
+        //转码函数
+    returnCode = DjiPlayback_VideoFileTranscode(videoFilePath, "h264", transcodedFilePath,
+                                                DJI_FILE_PATH_SIZE_MAX);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("transcode video file error: 0x%08llX.", returnCode);
+        continue;
+    }
+
+    // 获取视频文件中的帧速率
+    returnCode = DjiPlayback_GetFrameRateOfVideoFile(transcodedFilePath, &frameRate);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get frame rate of video error: 0x%08llX.", returnCode);
+        continue;
+    }
+
+    // 获取视频文件中的 帧信息
+    returnCode = DjiPlayback_GetFrameInfoOfVideoFile(transcodedFilePath, frameInfo, VIDEO_FRAME_MAX_COUNT,
+                                                        &frameCount);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get frame info of video error: 0x%08llX.", returnCode);
+        continue;
+    }
+
+    // 根据时间获取 帧数
+    returnCode = DjiPlayback_GetFrameNumberByTime(frameInfo, frameCount, &frameNumber,
+                                                    startTimeMs);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get start frame number error: 0x%08llX.", returnCode);
+        continue;
+    }
+
+    if (fpFile != NULL)
+        fclose(fpFile);
+
+// fpfile 为转码文件
+    fpFile = fopen(transcodedFilePath, "rb+");
+    if (fpFile == NULL) {
+        USER_LOG_ERROR("open video file fail.");
+        continue;
+    }
+
+send:
+    if (fpFile == NULL) {
+        USER_LOG_ERROR("open video file fail.");
+        continue;
+    }
+
+    if (sendVideoFlag != true)
+        continue;
+
+    returnCode = DjiTest_CameraGetMode(&mode);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        continue;
+    }
+
+    returnCode = DjiTest_CameraGetVideoStreamType(&videoStreamType);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        continue;
+    }
+
+    if (mode == DJI_CAMERA_MODE_PLAYBACK && s_playbackInfo.isInPlayProcess == false) {
+        continue;
+    }
+
+    if (!USER_UTIL_IS_WORK_TURN(sendVideoStep++, frameRate, SEND_VIDEO_TASK_FREQ))
+        continue;
+
+    frameBufSize = frameInfo[frameNumber].size;
+    if (videoStreamType == DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT) {
+        frameBufSize = frameBufSize + VIDEO_FRAME_AUD_LEN;
+    }
+
+        // 视频流解析
+        // 视频内容的长度  分配 帧的内容长度数量 个 1字节
+    dataBuffer = calloc(frameBufSize, 1);
+    if (dataBuffer == NULL) {
+        USER_LOG_ERROR("malloc fail.");
+        goto free;
+    }
+
+    ret = fseek(fpFile, frameInfo[frameNumber].positionInFile, SEEK_SET);
+    if (ret != 0) {
+        USER_LOG_ERROR("fseek fail.");
+        goto free;
+    }
+
+// 读取内容长度
+    dataLength = fread(dataBuffer, 1, frameInfo[frameNumber].size, fpFile);
+    if (dataLength != frameInfo[frameNumber].size) {
+        USER_LOG_ERROR("read data from video file error.");
+    } else {
+        USER_LOG_DEBUG("read data from video file success, len = %d B\r\n", dataLength);
+    }
+    
+  // 如果 视频流类型 为  大疆H264 类型
+    if (videoStreamType == DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT) {
+           // 将 审核的帧信息 复制到 数据内容 的 帧信息【帧数】大小    长度为   视频帧审核长度
+            //USER_LOG_INFO("播放类型为大疆h264型");
+        memcpy(&dataBuffer[frameInfo[frameNumber].size], s_frameAudInfo, VIDEO_FRAME_AUD_LEN);
+        dataLength = dataLength + VIDEO_FRAME_AUD_LEN;
+    }
+
+    lengthOfDataHaveBeenSent = 0;
+    while (dataLength - lengthOfDataHaveBeenSent) {
+        lengthOfDataToBeSent = USER_UTIL_MIN(DATA_SEND_FROM_VIDEO_STREAM_MAX_LEN,
+                                                dataLength - lengthOfDataHaveBeenSent);
+        
+        // 推送（发送） 视频流 （databuffer序列 （存储的一帧图片数据+ 已经发送的数据长度 ， 将要发送的数据长度 ）
+        // 用于返还 视频流通道的状态
+        returnCode = DjiPayloadCamera_SendVideoStream((const uint8_t *) dataBuffer + lengthOfDataHaveBeenSent,
+                                                        lengthOfDataToBeSent);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("send video stream error: 0x%08llX.", returnCode);
+        }
+        lengthOfDataHaveBeenSent += lengthOfDataToBeSent;
+    }
+
+    (void)osalHandler->GetTimeMs(&sendExpect);
+    sendExpect += (1000 / frameRate);
+
+    if ((frameNumber++) >= frameCount) {
+        USER_LOG_DEBUG("reach file tail.");
+        frameNumber = 0;
+
+        if (sendOneTimeFlag == true)
+            sendVideoFlag = false;
+    }
+    
+    // 调整帧速率
+    returnCode = DjiPayloadCamera_GetVideoStreamState(&videoStreamState);
+    if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_DEBUG(
+            "video stream state: realtimeBandwidthLimit: %d, realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController:%d busyState: %d.",
+            videoStreamState.realtimeBandwidthLimit, videoStreamState.realtimeBandwidthBeforeFlowController,
+            videoStreamState.realtimeBandwidthAfterFlowController,
+            videoStreamState.busyState);
+    } else {
+        USER_LOG_ERROR("get video stream state error.");
+    }
+
+free:
+        free(dataBuffer);
+
+Push_end:
+        continue;
+    }
+
+VideoSend_end:
+    if(ret < 0)
+        USER_LOG_ERROR("推流模块加载失败");
+}
+
+
+
+//录像播放测试函数，用于研发新产品时，图传播放录像使用
+static void *TestCameraMedia_SendVideoTask(void *arg)
+{
+    int ret;
+    // 回调错误
+    T_DjiReturnCode returnCode;
+    //发送视频的阶数                                      
+    static uint32_t sendVideoStep = 0;
+    // 传输的视频文件                                   
+    FILE *fpFile = NULL;
+     //传输数据长度 一帧不能超过65kb 超过需要分割                                                 
+    unsigned long dataLength = 0;
+     // 将要发送的产度                                      
+    uint16_t lengthOfDataToBeSent = 0;
+     // 上次已发送的长度                                 
+    int lengthOfDataHaveBeenSent = 0;
+    // 视频数据队列
+    char *dataBuffer = NULL;
+    // 回放指令                                             
+    T_TestPayloadCameraPlaybackCommand playbackCommand = {0};
+    //            
+    uint16_t bufferReadSize = 0;
+    // 视频文件的地址
+    char *videoFilePath = NULL;
+     // 转码文件的地址                                     
+    char *transcodedFilePath = NULL;
+    float frameRate = 1.0f;
+    // 帧信息
+    T_TestPayloadCameraVideoFrameInfo *frameInfo = NULL;
+    // 帧数               
+    uint32_t frameNumber = 0;
+     // 总帧                                       
+    uint32_t frameCount = 0;
+     // 开始时间的 延迟                                        
+    uint32_t startTimeMs = 0;
+    // 发送文件的标识                                       
+    bool sendVideoFlag = true;
+    // 发送 一次 的 时间 标示                                       
+    bool sendOneTimeFlag = false;
+    // 视频流状态                            
+    T_DjiDataChannelState videoStreamState = {0};
+    // 拍照模式
+    E_DjiCameraMode mode = DJI_CAMERA_MODE_SHOOT_PHOTO;
+    // ousl硬件层 句柄              
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint32_t frameBufSize = 0;
+    // 视频流类型
+    E_DjiCameraVideoStreamType videoStreamType;
+    // 通用 文件路径                         
+    char curFileDirPath[DJI_FILE_PATH_SIZE_MAX];
+    // 临时路径                 
+    char tempPath[DJI_FILE_PATH_SIZE_MAX];
+
+    USER_UTIL_UNUSED(arg);
+
+
+    // 获取视频流文件信息
+    // 获取 通用地址 的错误
+    returnCode = DjiUserUtil_GetCurrentFileDirPath("/root/sdcard/DCIM", DJI_FILE_PATH_SIZE_MAX, curFileDirPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
+        exit(1);
+    }
+
+    USER_LOG_INFO("curFileDirPath:%s",curFileDirPath);
+
+    // if (s_isMediaFileDirPathConfigured == true) {
+    //     snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%sPSDK_0005.h264", s_mediaFileDirPath);
+    // } else {
+    //     snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smedia_file/PSDK_0005.h264", curFileDirPath);
+    // }
+    snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "/root/sdcard/media_file/PSDK_0005.h264", curFileDirPath);
+
+    // 写入用于推送文件的临时地址
+   // USER_LOG_INFO("tempPath:%s",tempPath);
+    
+    // 视频流处理线程初始化
+    // 为视频文件申请
+    videoFilePath = osalHandler->Malloc(DJI_FILE_PATH_SIZE_MAX);
+    if (videoFilePath == NULL) {
+        USER_LOG_ERROR("malloc memory for video file path fail.");
+        exit(1);
+    }
+
+    // 转码文件的地址
+    transcodedFilePath = osalHandler->Malloc(DJI_FILE_PATH_SIZE_MAX);
+    if (transcodedFilePath == NULL) {
+        USER_LOG_ERROR("malloc memory for transcoded file path fail.");
+        exit(1);
+    }
+
+    // 帧信息
+    frameInfo = osalHandler->Malloc(VIDEO_FRAME_MAX_COUNT * sizeof(T_TestPayloadCameraVideoFrameInfo));
+    if (frameInfo == NULL) {
+        USER_LOG_ERROR("malloc memory for frame info fail.");
+        exit(1);
+    }
+    memset(frameInfo, 0, VIDEO_FRAME_MAX_COUNT * sizeof(T_TestPayloadCameraVideoFrameInfo));
+
+
+    //停止 回放播放程序
+    returnCode = DjiPlayback_StopPlayProcess();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("stop playback and start liveview error: 0x%08llX.", returnCode);
+        exit(1);
+    }
+
+    while (1) {
+        osalHandler->TaskSleepMs(1000 / SEND_VIDEO_TASK_FREQ);
+
+        // response playback command
+        if (osalHandler->MutexLock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("mutex lock error");
+            continue;
+        }
+
+        bufferReadSize = UtilBuffer_Get(&s_mediaPlayCommandBufferHandler, (uint8_t *) &playbackCommand,
+                                        sizeof(T_TestPayloadCameraPlaybackCommand));
+
+        if (osalHandler->MutexUnlock(s_mediaPlayCommandBufferMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("mutex unlock error");
+            continue;
+        }
+
+        if (bufferReadSize != sizeof(T_TestPayloadCameraPlaybackCommand))
+            goto send;
+
+        switch (playbackCommand.command) {
+            case TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_STOP:
+                snprintf(videoFilePath, DJI_FILE_PATH_SIZE_MAX, "%s", tempPath);
+                startTimeMs = 0;
+                sendVideoFlag = true;
+                sendOneTimeFlag = false;
+                break;
+            case TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_PAUSE:
+                sendVideoFlag = false;
+                goto send;
+            case TEST_PAYLOAD_CAMERA_MEDIA_PLAY_COMMAND_START:
+                snprintf(videoFilePath, DJI_FILE_PATH_SIZE_MAX, "%s", playbackCommand.path);
+                startTimeMs = playbackCommand.timeMs;
+                sendVideoFlag = true;
+                sendOneTimeFlag = true;
+                break;
+            default:
+                USER_LOG_ERROR("playback command invalid: %d.", playbackCommand.command);
+                sendVideoFlag = false;
+                goto send;
+        }
+
+        // video send preprocess
+        returnCode = DjiPlayback_VideoFileTranscode(videoFilePath, "h264", transcodedFilePath,
+                                                    DJI_FILE_PATH_SIZE_MAX);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("transcode video file error: 0x%08llX.", returnCode);
+            continue;
+        }
+
+        returnCode = DjiPlayback_GetFrameRateOfVideoFile(transcodedFilePath, &frameRate);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get frame rate of video error: 0x%08llX.", returnCode);
+            continue;
+        }
+
+        returnCode = DjiPlayback_GetFrameInfoOfVideoFile(transcodedFilePath, frameInfo, VIDEO_FRAME_MAX_COUNT,
+                                                         &frameCount);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get frame info of video error: 0x%08llX.", returnCode);
+            continue;
+        }
+
+        returnCode = DjiPlayback_GetFrameNumberByTime(frameInfo, frameCount, &frameNumber,
+                                                      startTimeMs);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get start frame number error: 0x%08llX.", returnCode);
+            continue;
+        }
+
+        if (fpFile != NULL)
+            fclose(fpFile);
+
+        fpFile = fopen(transcodedFilePath, "rb+");
+        if (fpFile == NULL) {
+            USER_LOG_ERROR("open video file fail.");
+            continue;
+        }
+
+send:
+        if (fpFile == NULL) {
+            USER_LOG_ERROR("open video file fail.");
+            continue;
+        }
+
+        if (sendVideoFlag != true)
+            continue;
+
+        returnCode = DjiTest_CameraGetMode(&mode);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            continue;
+        }
+
+        returnCode = DjiTest_CameraGetVideoStreamType(&videoStreamType);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            continue;
+        }
+
+        if (mode == DJI_CAMERA_MODE_PLAYBACK && s_playbackInfo.isInPlayProcess == false) {
+            continue;
+        }
+
+        if (!USER_UTIL_IS_WORK_TURN(sendVideoStep++, frameRate, SEND_VIDEO_TASK_FREQ))
+            continue;
+
+        frameBufSize = frameInfo[frameNumber].size;
+        if (videoStreamType == DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT) {
+            frameBufSize = frameBufSize + VIDEO_FRAME_AUD_LEN;
+        }
+
+        dataBuffer = calloc(frameBufSize, 1);
+        if (dataBuffer == NULL) {
+            USER_LOG_ERROR("malloc fail.");
+            goto free;
+        }
+
+        ret = fseek(fpFile, frameInfo[frameNumber].positionInFile, SEEK_SET);
+        if (ret != 0) {
+            USER_LOG_ERROR("fseek fail.");
+            goto free;
+        }
+
+        dataLength = fread(dataBuffer, 1, frameInfo[frameNumber].size, fpFile);
+        if (dataLength != frameInfo[frameNumber].size) {
+            USER_LOG_ERROR("read data from video file error.");
+        } else {
+            USER_LOG_DEBUG("read data from video file success, len = %d B\r\n", dataLength);
+        }
+
+        if (videoStreamType == DJI_CAMERA_VIDEO_STREAM_TYPE_H264_DJI_FORMAT) {
+            memcpy(&dataBuffer[frameInfo[frameNumber].size], s_frameAudInfo, VIDEO_FRAME_AUD_LEN);
+            dataLength = dataLength + VIDEO_FRAME_AUD_LEN;
+        }
+
+        lengthOfDataHaveBeenSent = 0;
+        while (dataLength - lengthOfDataHaveBeenSent) {
+            lengthOfDataToBeSent = USER_UTIL_MIN(DATA_SEND_FROM_VIDEO_STREAM_MAX_LEN,
+                                                 dataLength - lengthOfDataHaveBeenSent);
+            returnCode = DjiPayloadCamera_SendVideoStream((const uint8_t *) dataBuffer + lengthOfDataHaveBeenSent,
+                                                          lengthOfDataToBeSent);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("send video stream error: 0x%08llX.", returnCode);
+            }
+            lengthOfDataHaveBeenSent += lengthOfDataToBeSent;
+        }
+
+        if ((frameNumber++) >= frameCount) {
+            USER_LOG_DEBUG("reach file tail.");
+            frameNumber = 0;
+
+            if (sendOneTimeFlag == true)
+                sendVideoFlag = false;
+        }
+
+        returnCode = DjiPayloadCamera_GetVideoStreamState(&videoStreamState);
+        if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_DEBUG(
+                "video stream state: realtimeBandwidthLimit: %d, realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController:%d busyState: %d.",
+                videoStreamState.realtimeBandwidthLimit, videoStreamState.realtimeBandwidthBeforeFlowController,
+                videoStreamState.realtimeBandwidthAfterFlowController,
+                videoStreamState.busyState);
+        } else {
+            USER_LOG_ERROR("get video stream state error.");
+        }
+
+free:
+        free(dataBuffer);
+    }
+
+VideoSend_end:
+    if(ret < 0)
+        USER_LOG_ERROR("推流模块加载失败");
+}
+
+#ifndef __CC_ARM
+#pragma GCC diagnostic pop
+#endif
+
+//#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

+/**
+ ********************************************************************
+ * @file    test_payload_cam_emu_media.h
+ * @brief   This is the header file for "test_payload_cam_media.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef TEST_PAYLOAD_CAM_EMU_MEDIA_H
+#define TEST_PAYLOAD_CAM_EMU_MEDIA_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+#include "dji_payload_camera.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_CameraEmuMediaStartService(int mode);
+T_DjiReturnCode DjiTest_CameraEmuSetMediaFilePath(const char *path);
+T_DjiReturnCode DjiTest_CameraMediaGetFileInfo(const char *filePath, T_DjiCameraMediaFileInfo *fileInfo);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_PAYLOAD_CAM_EMU_MEDIA_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

+/**
+ ********************************************************************
+ * @file    test_camera_manager.h
+ * @brief   This is the header file for "test_camera_manager.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef TEST_CAMERA_MANAGER_H
+#define TEST_CAMERA_MANAGER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+#include "dji_camera_manager.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef enum {
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_EV,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ISO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_FOCUS_POINT,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_TAP_ZOOM_POINT,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_ZOOM_PARAM,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_BURST_PHOTO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_FILE_LIST_BY_SLICES,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_NIGHT_SCENE_MODE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAPTURE_RECORDING_STREAMS,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FORMAT_SD_CARD,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_LINK_ZOOM,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_USER_CUSTOM_DIR_FILE_NAME,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RESET_CAMERA_SETTINGS,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_AE_LOCK_MODE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_FOCUS_RING_VALUE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_CONNECT_STATUS_TEST,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GET_PHOTO_VIDEO_PARAM,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_POINT,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FFC_MODE_AND_TRRIGER,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GAIN_MODE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_CAMERA_STATUS,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SUBSCRIBE_POINT_CLOUD,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX
+} E_DjiTestCameraManagerSampleSelect;
+/* Exported functions --------------------------------------------------------*/
+
+/*! @brief Sample to set exposure compensation value for camera, using async
+ * api
+ *
+ *  @note In this interface, exposure compensation value will be got then be
+ * set.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param dataTarget the target exposure compensation value
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerSetEV(E_DjiMountPosition position,
+                                           E_DjiCameraManagerExposureCompensation exposureCompensation);
+
+/*! @brief Sample to set exposure mode for camera, using async api
+ *
+ *  @note In this interface, exposure will be got then be set.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param dataTarget the target exposure mode
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerSetExposureMode(E_DjiMountPosition position,
+                                                     E_DjiCameraManagerExposureMode exposureMode);
+
+/*! @brief Sample to set ISO value for camera, using async api
+ *
+ *  @note In this interface, ISO will be got then be set.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param dataTarget the target ISO value
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerSetISO(E_DjiMountPosition position,
+                                            E_DjiCameraManagerISO isoData);
+/*! @brief Sample to set shutter speed for camera, using async api
+ *
+ *  @note In this interface, shutter speed will be got then be set.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param dataTarget the target shutter speed
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerSetShutterSpeed(E_DjiMountPosition position,
+                                                     E_DjiCameraManagerShutterSpeed shutterSpeed);
+
+/*! @brief Sample to set shutter aperture value for camera, using async api
+ *
+ *  @note In this interface, aperture value will be got then be set.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param dataTarget the target aperture value
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerSetAperture(E_DjiMountPosition position,
+                                                 E_DjiCameraManagerAperture aperture);
+
+/*! @brief Sample to set focus point for camera, using async api
+ *
+ *  @note In this interface, focus mode will be set to be AUTO. Then the
+ * focus point will be set to be (x, y)
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param x the x value of target focus point, 0~1
+ *  @param y the y value of target focus point, 0~1
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerSetFocusPoint(E_DjiMountPosition position,
+                                                   T_DjiCameraManagerFocusPosData tapFocusPos);
+
+/*! @brief Sample to set tap-zoom point for camera, using async api
+ *
+ *  @note In this interface, tap-zoom function will be enable and the
+ * multiplier will be set. Then the tap-zoom function will start with the
+ * target tap-zoom point (x, y)
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param multiplier the zoom multiplier of each tap zoom
+ *  @param x the x value of target tap-zoom point, 0~1
+ *  @param y the y value of target tap-zoom point, 0~1
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerSetTapZoomPoint(E_DjiMountPosition position, uint8_t multiplier,
+                                                     T_DjiCameraManagerTapZoomPosData tapZoomPosData);
+/*! @brief Sample to execute continuous zoom on camera, using sync api
+ *
+ *  @note It is only supported by X5, X5R and X5S camera on Osmo with lens
+ * Olympus M.Zuiko ED 14-42mm f/3.5-5.6 EZ, Z3 camera, Z30 camera.
+ *  @note In this interface, the zoom will start with the designated direction
+ * and speed, and will stop after zoomTimeInSecond second(s).
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param direction the choice of zoom out or zoom in
+ *  @param speed zooming speed
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerStartContinuousZoom(E_DjiMountPosition position,
+                                                         E_DjiCameraZoomDirection zoomDirection,
+                                                         E_DjiCameraZoomSpeed zoomSpeed);
+
+/*! @brief Sample to execute position zoom on camera, using sync api
+ *
+ *  @note It is only supported by X5, X5R and X5S camera on Osmo with lens
+ * Olympus M.Zuiko ED 14-42mm f/3.5-5.6 EZ, Z3 camera, Z30 camera.
+ *  @note In this interface, the zoom will set the zoom factor as the your
+ * target value.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param factor target zoom factor
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerOpticalZoom(E_DjiMountPosition position,
+                                                 E_DjiCameraZoomDirection zoomDirection,
+                                                 dji_f32_t factor);
+
+/*! @brief Sample to stop continuous zoom on camera, using async api
+ *
+ *  @note It is only supported by X5, X5R and X5S camera on Osmo with lens
+ * Olympus M.Zuiko ED 14-42mm f/3.5-5.6 EZ, Z3 camera, Z30 camera.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerStopContinuousZoom(E_DjiMountPosition position);
+
+/*! @brief Sample to shoot single photo, using async api
+ *
+ *  @note In this interface, camera will be set to be the SHOOT_PHOTO mode
+ * then start to shoot a single photo.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerStartShootSinglePhoto(E_DjiMountPosition position);
+
+/*! @brief Sample to shoot burst photo, using async api
+ *
+ *  @note In this interface, camera will be set to be the SHOOT_PHOTO mode
+ * then start to shoot a burst photo.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param count The number of pictures in each burst shooting
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerStartShootBurstPhoto(E_DjiMountPosition position,
+                                                          E_DjiCameraBurstCount burstCount);
+
+/*! @brief Sample to start shooting interval photo, using async api
+ *
+ *  @note In this interface, camera will be set to be the SHOOT_PHOTO mode
+ * then start to shoot a interval photo.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @param intervalData the parameter of interval shooting
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerStartShootIntervalPhoto(E_DjiMountPosition position,
+                                                             T_DjiCameraPhotoTimeIntervalSettings intervalData);
+
+/*! @brief Sample to stop shooting, using async api
+ *
+ *  @note In this interface, camera will stop all the shooting action
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerStopShootPhoto(E_DjiMountPosition position);
+
+/*! @brief Sample to start record video, using async api
+ *
+ *  @note In this interface, camera will be set to be the RECORD_VIDEO mode
+ * then start to record video.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerStartRecordVideo(E_DjiMountPosition position);
+
+/*! @brief Sample to stop record video, using async api
+ *
+ *  @note In this interface, camera will be set to be the RECORD_VIDEO mode
+ * then stop recording video.
+ *  @param index payload node index, input limit see enum
+ * DJI::OSDK::PayloadIndexType
+ *  @return T_DjiReturnCode error code
+ */
+T_DjiReturnCode DjiTest_CameraManagerStopRecordVideo(E_DjiMountPosition position);
+
+T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
+                                               E_DjiTestCameraManagerSampleSelect cameraManagerSampleSelect);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_CAMERA_MANAGER_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/