潘浩彬 / JZSDK_Linux · 提交

转到一个项目

作者 ookk303
提交 cad5b0c7214090bd88ecb20fd2a55e40a1e2052b 1 个父辈 b9c3a9c6

临时保存

内嵌 并排对比
正在显示 4 个修改的文件 包含 0 行增加 和 1114 行删除
/**
********************************************************************
* @file main.c
* @brief
*
* @copyright (c) 2021 ZIYAN. All rights reserved.
*
* All information contained herein is, and remains, the property of ZIYAN.
* The intellectual and technical concepts contained herein are proprietary
* to ZIYAN 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 ZIYAN.
*
* If you receive this source code without ZIYAN’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify ZIYAN of its removal. ZIYAN 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 <ziyan_platform.h>
#include <ziyan_logger.h>
#include <ziyan_core.h>
#include <utils/util_misc.h>
#include <errno.h>
#include <signal.h>
#include "monitor/sys_monitor.h"
#include "osal/osal.h"
#include "osal/osal_fs.h"
#include "osal/osal_socket.h"
#include "../hal/hal_uart.h"
#include "../hal/hal_network.h"
#include "../hal/hal_usb_bulk.h"
#include "ziyan_sdk_app_info.h"
#include "ziyan_aircraft_info.h"
#include "widget/test_widget.h"
#include "ziyan_sdk_config.h"
#include "camera_emu/test_payload_cam_emu_base.h"
#include "Zy_Expansion.h"
#include "BaseConfig.h"
/* Private constants ---------------------------------------------------------*/
#define ZIYAN_LOG_PATH "Logs/ZIYAN"
#define ZIYAN_LOG_INDEX_FILE_NAME "Logs/latest"
#define ZIYAN_LOG_FOLDER_NAME "Logs"
#define ZIYAN_LOG_PATH_MAX_SIZE (128)
#define ZIYAN_LOG_FOLDER_NAME_MAX_SIZE (32)
#define ZIYAN_LOG_MAX_COUNT (10)
#define ZIYAN_SYSTEM_CMD_STR_MAX_SIZE (64)
#define ZIYAN_SYSTEM_RESULT_STR_MAX_SIZE (128)
#define ZIYAN_USE_WIDGET_INTERACTION 0
/* Private types -------------------------------------------------------------*/
typedef struct {
pid_t tid;
char name[16];
float pcpu;
} T_ThreadAttribute;
/* Private values -------------------------------------------------------------*/
static FILE *s_djiLogFile;
static FILE *s_djiLogFileCnt;
static pthread_t s_monitorThread = 0;
/* Private functions declaration ---------------------------------------------*/
static T_ZiyanReturnCode ZiyanUser_PrepareSystemEnvironment(void);
static T_ZiyanReturnCode ZiyanUser_FillInUserInfo(T_ZiyanUserInfo *userInfo);
static T_ZiyanReturnCode ZiyanUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
static T_ZiyanReturnCode ZiyanUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
static T_ZiyanReturnCode ZiyanUser_LocalWriteFsInit(const char *path);
// static void *ZiyanUser_MonitorTask(void *argument);
// static T_ZiyanReturnCode ZiyanTest_HighPowerApplyPinInit();
// static T_ZiyanReturnCode ZiyanTest_WriteHighPowerApplyPin(E_ZiyanPowerManagementPinState pinState);
static void ZiyanUser_NormalExitHandler(int signalNum);
/* Exported functions definition ---------------------------------------------*/
int main(int argc, char **argv)
{
T_ZiyanReturnCode returnCode;
T_ZiyanUserInfo userInfo;
T_ZiyanAircraftInfoBaseInfo aircraftInfoBaseInfo;
T_ZiyanAircraftVersion aircraftInfoVersion;
T_ZiyanFirmwareVersion firmwareVersion = {
.majorVersion = 1,
.minorVersion = 0,
.modifyVersion = 0,
.debugVersion = 0,
};
USER_UTIL_UNUSED(argc);
USER_UTIL_UNUSED(argv);
// attention: when the program is hand up ctrl-c will generate the coredump file
// 注意：当程序挂起时，按下Ctrl-C会生成coredump文件
signal(SIGTERM, ZiyanUser_NormalExitHandler);
/*!< Step 1: Prepare system environment, such as osal, hal uart, console function and so on. */
/*!< 步骤1：准备系统环境，例如osal、hal uart、控制台功能等 */
returnCode = ZiyanUser_PrepareSystemEnvironment();
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Prepare system environment error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
USER_LOG_INFO("run main test: %d:%d", 111, __LINE__);
/*!< Step 2: Fill your application information in dji_sdk_app_info.h and use this interface to fill it. */
/*!< 步骤2：在dji_sdk_app_info.h中填写应用信息，并使用本接口填充信息 */
returnCode = ZiyanUser_FillInUserInfo(&userInfo);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Fill user info error, please check user info config");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
// /*!< Step 3: Initialize the Payload SDK core by your application information. */
// /*!< 步骤3：通过应用信息初始化Payload SDK核心 */
returnCode = ZiyanCore_Init(&userInfo);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Core init error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = ZiyanAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft base info error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
// returnCode = ZiyanAircraftInfo_GetAircraftVersion(&aircraftInfoVersion);
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("get aircraft version info error");
// } else {
// USER_LOG_INFO("Aircraft version is V%02d.%02d.%02d.%02d", aircraftInfoVersion.majorVersion,
// aircraftInfoVersion.minorVersion, aircraftInfoVersion.modifyVersion,
// aircraftInfoVersion.debugVersion);
// }
// returnCode = ZiyanCore_SetAlias("PSDK_APPALIAS");
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("set alias error");
// return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
// }
// returnCode = ZiyanCore_SetFirmwareVersion(firmwareVersion);
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("set firmware version error");
// return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
// }
// returnCode = ZiyanCore_SetSerialNumber("PSDK12345678XX");
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("set serial number error");
// return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
// }
// /*!< Step 4: Initialize the selected modules by macros in dji_sdk_config.h . */
// /*!< 步骤4：通过dji_sdk_config.h中的宏初始化选中的模块 */
// #ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
// T_ZiyanTestApplyHighPowerHandler applyHighPowerHandler = {
// .pinInit = ZiyanTest_HighPowerApplyPinInit,
// .pinWrite = ZiyanTest_WriteHighPowerApplyPin,
// };
// returnCode = ZiyanTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("regsiter apply high power handler error");
// }
// returnCode = ZiyanTest_PowerManagementStartService();
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("power management init error");
// }
// #endif
// #ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
// returnCode = ZiyanTest_DataTransmissionStartService();
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("widget sample init error");
// }
// #endif
// if (aircraftInfoBaseInfo.mountPosition == ZIYAN_MOUNT_POSITION_EXTENSION_PORT &&
// aircraftInfoBaseInfo.aircraftType == ZIYAN_AIRCRAFT_TYPE_M300_RTK) {
// returnCode = ZiyanTest_WidgetInteractionStartService();
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("widget interaction sample init error");
// }
// returnCode = ZiyanTest_WidgetSpeakerStartService();
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("widget speaker test init error");
// }
// } else {
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
returnCode = ZiyanTest_CameraEmuBaseStartService();
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
returnCode = ZiyanTest_CameraEmuMediaStartService();
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu media init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
returnCode = ZiyanTest_FcSubscriptionStartService();
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("data subscription sample init error\n");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.ziyanAdapterType == ZIYAN_SDK_ADAPTER_TYPE_NONE ||
aircraftInfoBaseInfo.ziyanAdapterType == ZIYAN_SDK_ADAPTER_TYPE_UNKNOWN) {
if (ZiyanTest_GimbalStartService() != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
}
}
#endif
// #ifdef CONFIG_MODULE_SAMPLE_XPORT_ON
// if (aircraftInfoBaseInfo.djiAdapterType == ZIYAN_SDK_ADAPTER_TYPE_XPORT) {
// if (ZiyanTest_XPortStartService() != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("psdk xport init error");
// }
// }
// #endif
//配置拓展接口
Zy_JZsdkToPsdk_ExpnasionInit();
//自己配置
Main_APP_Psdk();
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
#if ZIYAN_USE_WIDGET_INTERACTION
returnCode = ZiyanTest_WidgetInteractionStartService();
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction test init error");
}
#else
returnCode = ZiyanTest_WidgetStartService();
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
#endif
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
returnCode = ZiyanTest_WidgetSpeakerStartService();
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker test init error");
}
#endif
// #ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
// returnCode = ZiyanTest_MopChannelStartService();
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("mop channel sample init error");
// }
// #endif
// #ifdef CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
// if (aircraftInfoBaseInfo.djiAdapterType == ZIYAN_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
// aircraftInfoBaseInfo.djiAdapterType == ZIYAN_SDK_ADAPTER_TYPE_XPORT) {
// returnCode = ZiyanTest_PayloadCollaborationStartService();
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("Payload collaboration sample init error\n");
// }
// }
// #endif
// #ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
// T_ZiyanTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
// .rebootSystem = ZiyanUpgradePlatformLinux_RebootSystem,
// .cleanUpgradeProgramFileStoreArea = ZiyanUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
// .createUpgradeProgramFile = ZiyanUpgradePlatformLinux_CreateUpgradeProgramFile,
// .writeUpgradeProgramFile = ZiyanUpgradePlatformLinux_WriteUpgradeProgramFile,
// .readUpgradeProgramFile = ZiyanUpgradePlatformLinux_ReadUpgradeProgramFile,
// .closeUpgradeProgramFile = ZiyanUpgradePlatformLinux_CloseUpgradeProgramFile,
// .replaceOldProgram = ZiyanUpgradePlatformLinux_ReplaceOldProgram,
// .setUpgradeRebootState = ZiyanUpgradePlatformLinux_SetUpgradeRebootState,
// .getUpgradeRebootState = ZiyanUpgradePlatformLinux_GetUpgradeRebootState,
// .cleanUpgradeRebootState = ZiyanUpgradePlatformLinux_CleanUpgradeRebootState,
// };
// T_ZiyanTestUpgradeConfig testUpgradeConfig = {
// .firmwareVersion = firmwareVersion,
// .transferType = ZIYAN_FIRMWARE_TRANSFER_TYPE_DCFTP,
// .needReplaceProgramBeforeReboot = true
// };
// if (ZiyanTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
// ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("psdk upgrade init error");
// }
// #endif
// #ifdef CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
// returnCode = ZiyanTest_HmsCustomizationStartService();
// if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
// USER_LOG_ERROR("hms test init error");
// }
// #endif
// }
// /*!< Step 5: Tell the ZIYAN Pilot you are ready. */
returnCode = ZiyanCore_ApplicationStart();
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("start sdk application error");
}
// if (pthread_create(&s_monitorThread, NULL, ZiyanUser_MonitorTask, NULL) != 0) {
// USER_LOG_ERROR("create monitor task fail.");
// }
// if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
// USER_LOG_ERROR("set name for monitor task fail.");
// }
while (1) {
sleep(1);
}
}
/* Private functions definition-----------------------------------------------*/
static T_ZiyanReturnCode ZiyanUser_PrepareSystemEnvironment(void)
{
T_ZiyanReturnCode returnCode;
T_ZiyanOsalHandler osalHandler = {
.TaskCreate = Osal_TaskCreate,
.TaskDestroy = Osal_TaskDestroy,
.TaskSleepMs = Osal_TaskSleepMs,
.MutexCreate= Osal_MutexCreate,
.MutexDestroy = Osal_MutexDestroy,
.MutexLock = Osal_MutexLock,
.MutexUnlock = Osal_MutexUnlock,
.SemaphoreCreate = Osal_SemaphoreCreate,
.SemaphoreDestroy = Osal_SemaphoreDestroy,
.SemaphoreWait = Osal_SemaphoreWait,
.SemaphoreTimedWait = Osal_SemaphoreTimedWait,
.SemaphorePost = Osal_SemaphorePost,
.Malloc = Osal_Malloc,
.Free = Osal_Free,
.GetRandomNum = Osal_GetRandomNum,
.GetTimeMs = Osal_GetTimeMs,
.GetTimeUs = Osal_GetTimeUs,
};
T_ZiyanLoggerConsole printConsole = {
.func = ZiyanUser_PrintConsole,
.consoleLevel = ZIYAN_LOGGER_CONSOLE_LOG_LEVEL_INFO,
.isSupportColor = true,
};
T_ZiyanLoggerConsole localRecordConsole = {
.consoleLevel = ZIYAN_LOGGER_CONSOLE_LOG_LEVEL_DEBUG,
.func = ZiyanUser_LocalWrite,
.isSupportColor = true,
};
T_ZiyanHalUartHandler uartHandler = {
.UartInit = HalUart_Init,
.UartDeInit = HalUart_DeInit,
.UartWriteData = HalUart_WriteData,
.UartReadData = HalUart_ReadData,
.UartGetStatus = HalUart_GetStatus,
};
T_ZiyanHalNetworkHandler networkHandler = {
.NetworkInit = HalNetWork_Init,
.NetworkDeInit = HalNetWork_DeInit,
.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo,
};
T_ZiyanHalUsbBulkHandler usbBulkHandler = {
.UsbBulkInit = HalUsbBulk_Init,
.UsbBulkDeInit = HalUsbBulk_DeInit,
.UsbBulkWriteData = HalUsbBulk_WriteData,
.UsbBulkReadData = HalUsbBulk_ReadData,
.UsbBulkGetDeviceInfo = HalUsbBulk_GetDeviceInfo,
};
T_ZiyanFileSystemHandler fileSystemHandler = {
.FileOpen = Osal_FileOpen,
.FileClose = Osal_FileClose,
.FileWrite = Osal_FileWrite,
.FileRead = Osal_FileRead,
.FileSync = Osal_FileSync,
.FileSeek = Osal_FileSeek,
.DirOpen = Osal_DirOpen,
.DirClose = Osal_DirClose,
.DirRead = Osal_DirRead,
.Mkdir = Osal_Mkdir,
.Unlink = Osal_Unlink,
.Rename = Osal_Rename,
.Stat = Osal_Stat,
};
T_ZiyanSocketHandler socketHandler = {
.Socket = Osal_Socket,
.Bind = Osal_Bind,
.Close = Osal_Close,
.UdpSendData = Osal_UdpSendData,
.UdpRecvData = Osal_UdpRecvData,
.TcpListen = Osal_TcpListen,
.TcpAccept = Osal_TcpAccept,
.TcpConnect = Osal_TcpConnect,
.TcpSendData = Osal_TcpSendData,
.TcpRecvData = Osal_TcpRecvData,
};
returnCode = ZiyanPlatform_RegOsalHandler(&osalHandler);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal handler error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = ZiyanPlatform_RegHalUartHandler(&uartHandler);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal uart handler error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (ZiyanUser_LocalWriteFsInit(ZIYAN_LOG_PATH) != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("file system init error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
returnCode = ZiyanLogger_AddConsole(&printConsole);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("add printf console error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = ZiyanLogger_AddConsole(&localRecordConsole);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("add printf console error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#if (CONFIG_HARDWARE_CONNECTION == ZIYAN_USE_UART_AND_USB_BULK_DEVICE)
returnCode = ZiyanPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == ZIYAN_USE_UART_AND_NETWORK_DEVICE)
returnCode = ZiyanPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
//Attention: if you want to use camera stream view function, please uncomment it.
returnCode = ZiyanPlatform_RegSocketHandler(&socketHandler);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal socket handler error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == ZIYAN_USE_ONLY_UART)
/*!< Attention: Only use uart hardware connection.
*/
#endif
returnCode = ZiyanPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal filesystem handler error");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_ZiyanReturnCode ZiyanUser_FillInUserInfo(T_ZiyanUserInfo *userInfo)
{
if (userInfo == NULL) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
memset(userInfo->appName, 0, sizeof(userInfo->appName));
memset(userInfo->appId, 0, sizeof(userInfo->appId));
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
memset(userInfo->appLicense, 0, sizeof(userInfo->appLicense));
memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
memset(userInfo->baudRate, 0, sizeof(userInfo->baudRate));
if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
strlen(USER_APP_LICENSE) > sizeof(userInfo->appLicense) ||
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount) ||
strlen(USER_BAUD_RATE) > sizeof(userInfo->baudRate)) {
USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
sleep(1);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (!strcmp(USER_APP_NAME, "your_app_name") ||
!strcmp(USER_APP_ID, "your_app_id") ||
!strcmp(USER_APP_KEY, "your_app_key") ||
!strcmp(USER_BAUD_RATE, "your_app_license") ||
!strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
!strcmp(USER_BAUD_RATE, "your_baud_rate")) {
USER_LOG_ERROR(
"Please fill in correct user information to 'samples/sample_c/platform/linux/manifold2/application/dji_sdk_app_info.h' file.");
sleep(1);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
memcpy(userInfo->appLicense, USER_APP_LICENSE,
USER_UTIL_MIN(sizeof(userInfo->appLicense), strlen(USER_APP_LICENSE)));
memcpy(userInfo->baudRate, USER_BAUD_RATE, USER_UTIL_MIN(sizeof(userInfo->baudRate), strlen(USER_BAUD_RATE)));
strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_ZiyanReturnCode ZiyanUser_PrintConsole(const uint8_t *data, uint16_t dataLen)
{
USER_UTIL_UNUSED(dataLen);
printf("%s", data);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_ZiyanReturnCode ZiyanUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
{
uint32_t realLen;
if (s_djiLogFile == NULL) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
realLen = fwrite(data, 1, dataLen, s_djiLogFile);
fflush(s_djiLogFile);
if (realLen == dataLen) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
static T_ZiyanReturnCode ZiyanUser_LocalWriteFsInit(const char *path)
{
T_ZiyanReturnCode djiReturnCode = ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char filePath[ZIYAN_LOG_PATH_MAX_SIZE];
char systemCmd[ZIYAN_SYSTEM_CMD_STR_MAX_SIZE];
char folderName[ZIYAN_LOG_FOLDER_NAME_MAX_SIZE];
time_t currentTime = time(NULL);
struct tm *localTime = localtime(&currentTime);
uint16_t logFileIndex = 0;
uint16_t currentLogFileIndex;
uint8_t ret;
if (localTime == NULL) {
printf("Get local time error.\r\n");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (access(ZIYAN_LOG_FOLDER_NAME, F_OK) != 0) {
sprintf(folderName, "mkdir %s", ZIYAN_LOG_FOLDER_NAME);
ret = system(folderName);
if (ret != 0) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
s_djiLogFileCnt = fopen(ZIYAN_LOG_INDEX_FILE_NAME, "rb+");
if (s_djiLogFileCnt == NULL) {
s_djiLogFileCnt = fopen(ZIYAN_LOG_INDEX_FILE_NAME, "wb+");
if (s_djiLogFileCnt == NULL) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else {
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
if (ret != 0) {
printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
if (ret != sizeof(uint16_t)) {
printf("Read log file index error.\r\n");
}
}
currentLogFileIndex = logFileIndex;
logFileIndex++;
ret = fseek(s_djiLogFileCnt, 0, SEEK_SET);
if (ret != 0) {
printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_djiLogFileCnt);
if (ret != sizeof(uint16_t)) {
printf("Write log file index error.\r\n");
fclose(s_djiLogFileCnt);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
fclose(s_djiLogFileCnt);
sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
s_djiLogFile = fopen(filePath, "wb+");
if (s_djiLogFile == NULL) {
USER_LOG_ERROR("Open filepath time error.");
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (logFileIndex >= ZIYAN_LOG_MAX_COUNT) {
sprintf(systemCmd, "rm -rf %s_%04d*.log", path, currentLogFileIndex - ZIYAN_LOG_MAX_COUNT);
ret = system(systemCmd);
if (ret != 0) {
printf("Remove file error, ret:%d.\r\n", ret);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
return djiReturnCode;
}
// #pragma GCC diagnostic push
// #pragma GCC diagnostic ignored "-Wmissing-noreturn"
// #pragma GCC diagnostic ignored "-Wreturn-type"
// static void *ZiyanUser_MonitorTask(void *argument)
// {
// unsigned int i = 0;
// unsigned int threadCount = 0;
// pid_t *tidList = NULL;
// T_ThreadAttribute *threadAttribute = NULL;
// T_ZiyanOsalHandler *osalHandler = ZiyanPlatform_GetOsalHandler();
// USER_UTIL_UNUSED(argument);
// while (1) {
// threadCount = Monitor_GetThreadCountOfProcess(getpid());
// tidList = osalHandler->Malloc(threadCount * sizeof(pid_t));
// if (tidList == NULL) {
// USER_LOG_ERROR("malloc fail.");
// goto delay;
// }
// Monitor_GetTidListOfProcess(getpid(), tidList, threadCount);
// threadAttribute = osalHandler->Malloc(threadCount * sizeof(T_ThreadAttribute));
// if (threadAttribute == NULL) {
// USER_LOG_ERROR("malloc fail.");
// goto freeTidList;
// }
// for (i = 0; i < threadCount; ++i) {
// threadAttribute[i].tid = tidList[i];
// }
// USER_LOG_DEBUG("thread pcpu:");
// USER_LOG_DEBUG("tid\tname\tpcpu");
// for (i = 0; i < threadCount; ++i) {
// threadAttribute[i].pcpu = Monitor_GetPcpuOfThread(getpid(), tidList[i]);
// Monitor_GetNameOfThread(getpid(), tidList[i], threadAttribute[i].name, sizeof(threadAttribute[i].name));
// USER_LOG_DEBUG("%d\t%15s\t%f %%.", threadAttribute[i].tid, threadAttribute[i].name,
// threadAttribute[i].pcpu);
// }
// USER_LOG_DEBUG("heap used: %d B.", Monitor_GetHeapUsed(getpid()));
// USER_LOG_DEBUG("stack used: %d B.", Monitor_GetStackUsed(getpid()));
// osalHandler->Free(threadAttribute);
// freeTidList:
// osalHandler->Free(tidList);
// delay:
// sleep(10);
// }
// }
// // static T_ZiyanReturnCode ZiyanTest_HighPowerApplyPinInit()
// // {
// // return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
// // }
// // static T_ZiyanReturnCode ZiyanTest_WriteHighPowerApplyPin(E_ZiyanPowerManagementPinState pinState)
// // {
// // //attention: please pull up the HWPR pin state by hardware.
// // return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
// // }
static void ZiyanUser_NormalExitHandler(int signalNum)
{
USER_UTIL_UNUSED(signalNum);
exit(0);
}
#pragma GCC diagnostic pop
/****************** (C) COPYRIGHT ZIYAN Innovations *****END OF FILE****/
/**
********************************************************************
* @file dji_sdk_app_info.h
* @brief This is the header file for defining the structure and (exported) function prototypes.
*
* @copyright (c) 2018 ZIYAN. All rights reserved.
*
* All information contained herein is, and remains, the property of ZIYAN.
* The intellectual and technical concepts contained herein are proprietary
* to ZIYAN 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 ZIYAN.
*
* If you receive this source code without ZIYAN’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify ZIYAN of its removal. ZIYAN 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 ZIYAN_SDK_APP_INFO_H
#define ZIYAN_SDK_APP_INFO_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
// ATTENTION: User must goto https://developer.dji.com/user/apps/#all to create your own dji sdk application, get dji sdk application
// information then fill in the application information here.
#define USER_APP_NAME "app_name_ziyan"
#define USER_APP_ID "app_id_ziyan"
#define USER_APP_KEY "app_key_ziyan"
#define USER_APP_LICENSE "app_license_ziyan"
#define USER_DEVELOPER_ACCOUNT "developer_account_ziyan"
#define USER_BAUD_RATE "921600" //原为921600
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif // ZIYAN_SDK_APP_INFO_H
/************************ (C) COPYRIGHT ZIYAN Innovations *******END OF FILE******/
/**
********************************************************************
* @file dji_sdk_config.h
* @brief This is the header file for "dji_config.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 ZIYAN. All rights reserved.
*
* All information contained herein is, and remains, the property of ZIYAN.
* The intellectual and technical concepts contained herein are proprietary
* to ZIYAN 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 ZIYAN.
*
* If you receive this source code without ZIYAN’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify ZIYAN of its removal. ZIYAN 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 ZIYAN_SDK_CONFIG_H
#define ZIYAN_SDK_CONFIG_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define ZIYAN_USE_ONLY_UART (0)
#define ZIYAN_USE_UART_AND_USB_BULK_DEVICE (1)
#define ZIYAN_USE_UART_AND_NETWORK_DEVICE (2)
/*!< Attention: Select your hardware connection mode here.
* */
#define CONFIG_HARDWARE_CONNECTION ZIYAN_USE_ONLY_UART
/*!< Attention: Select the sample you want to run here.
* */
// #define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
// #define CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
// #define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
// #define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
// #define CONFIG_MODULE_SAMPLE_XPORT_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
// #define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
// #define CONFIG_MODULE_SAMPLE_UPGRADE_ON
// #define CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
/*!< Attention: This function needs to be used together with mobile sdk mop sample.
* */
//#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif // ZIYAN_SDK_CONFIG_H
/************************ (C) COPYRIGHT ZIYAN Innovations *******END OF FILE******/
/**
********************************************************************
* @file hal_uart.c
* @brief
*
* @copyright (c) 2021 ZIYAN. All rights reserved.
*
* All information contained herein is, and remains, the property of ZIYAN.
* The intellectual and technical concepts contained herein are proprietary
* to ZIYAN 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 ZIYAN.
*
* If you receive this source code without ZIYAN’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify ZIYAN of its removal. ZIYAN 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 <ziyan_logger.h>
#include "hal_uart.h"
/* Private constants ---------------------------------------------------------*/
#define UART_DEV_NAME_STR_SIZE (128)
#define ZIYAN_SYSTEM_CMD_STR_MAX_SIZE (64)
#define ZIYAN_SYSTEM_RESULT_STR_MAX_SIZE (128)
/* Private types -------------------------------------------------------------*/
typedef struct {
int32_t uartFd;
} T_UartHandleStruct;
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_ZiyanReturnCode HalUart_Init(E_ZiyanHalUartNum uartNum, uint32_t baudRate, T_ZiyanUartHandle *uartHandle)
{
T_UartHandleStruct *uartHandleStruct = NULL;
struct termios options;
struct flock lock;
T_ZiyanReturnCode returnCode = ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
char uartName[UART_DEV_NAME_STR_SIZE];
char systemCmd[ZIYAN_SYSTEM_CMD_STR_MAX_SIZE];
char *ret = NULL;
char lineBuf[ZIYAN_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
FILE *fp;
uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
if (uartHandleStruct == NULL) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
if (uartNum == ZIYAN_HAL_UART_NUM_0) {
strcpy(uartName, LINUX_UART_DEV1);
} else if (uartNum == ZIYAN_HAL_UART_NUM_1) {
strcpy(uartName, LINUX_UART_DEV2);
} else {
goto free_uart_handle;
}
#ifdef USE_CLION_DEBUG
sprintf(systemCmd, "ls -l %s", uartName);
fp = popen(systemCmd, "r");
if (fp == NULL) {
goto free_uart_handle;
}
ret = fgets(lineBuf, sizeof(lineBuf), fp);
if (ret == NULL) {
goto close_fp;
}
if (strstr(lineBuf, "crwxrwxrwx") == NULL) {
USER_LOG_ERROR("Can't operation the device. "
"Probably the device has not operation permission. "
"Please execute command 'sudo chmod 777 %s' to add permission. ", uartName);
goto close_fp;
}
#else
sprintf(systemCmd, "chmod 777 %s", uartName);
fp = popen(systemCmd, "r");
if (fp == NULL) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#endif
uartHandleStruct->uartFd = open(uartName, (unsigned) O_RDWR | (unsigned) O_NOCTTY | (unsigned) O_NDELAY);
if (uartHandleStruct->uartFd == -1) {
goto close_fp;
}
// Forbid multiple psdk programs to access the serial port
lock.l_type = F_WRLCK;
lock.l_pid = getpid();
lock.l_whence = SEEK_SET;
lock.l_start = 0;
lock.l_len = 0;
if (fcntl(uartHandleStruct->uartFd, F_GETLK, &lock) < 0) {
goto close_uart_fd;
}
if (lock.l_type != F_UNLCK) {
goto close_uart_fd;
}
lock.l_type = F_WRLCK;
lock.l_pid = getpid();
lock.l_whence = SEEK_SET;
lock.l_start = 0;
lock.l_len = 0;
if (fcntl(uartHandleStruct->uartFd, F_SETLKW, &lock) < 0) {
goto close_uart_fd;
}
if (tcgetattr(uartHandleStruct->uartFd, &options) != 0) {
goto close_uart_fd;
}
switch (baudRate) {
case 115200:
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);
break;
case 230400:
cfsetispeed(&options, B230400);
cfsetospeed(&options, B230400);
break;
case 460800:
cfsetispeed(&options, B460800);
cfsetospeed(&options, B460800);
break;
case 921600:
cfsetispeed(&options, B921600);
cfsetospeed(&options, B921600);
break;
case 1000000:
cfsetispeed(&options, B1000000);
cfsetospeed(&options, B1000000);
break;
default:
goto close_uart_fd;
}
options.c_cflag |= (unsigned) CLOCAL;
options.c_cflag |= (unsigned) CREAD;
options.c_cflag &= ~(unsigned) CRTSCTS;
options.c_cflag &= ~(unsigned) CSIZE;
options.c_cflag |= (unsigned) CS8;
options.c_cflag &= ~(unsigned) PARENB;
options.c_iflag &= ~(unsigned) INPCK;
options.c_cflag &= ~(unsigned) CSTOPB;
options.c_oflag &= ~(unsigned) OPOST;
options.c_lflag &= ~((unsigned) ICANON | (unsigned) ECHO | (unsigned) ECHOE | (unsigned) ISIG);
options.c_iflag &= ~((unsigned) BRKINT | (unsigned) ICRNL | (unsigned) INPCK | (unsigned) ISTRIP | (unsigned) IXON);
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
tcflush(uartHandleStruct->uartFd, TCIFLUSH);
if (tcsetattr(uartHandleStruct->uartFd, TCSANOW, &options) != 0) {
goto close_uart_fd;
}
*uartHandle = uartHandleStruct;
pclose(fp);
return returnCode;
close_uart_fd:
close(uartHandleStruct->uartFd);
close_fp:
pclose(fp);
free_uart_handle:
free(uartHandleStruct);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
T_ZiyanReturnCode HalUart_DeInit(T_ZiyanUartHandle uartHandle)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
ret = close(uartHandleStruct->uartFd);
if (ret < 0) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
free(uartHandleStruct);
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_ZiyanReturnCode HalUart_WriteData(T_ZiyanUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = write(uartHandleStruct->uartFd, buf, len);
if (ret >= 0) {
*realLen = ret;
} else {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_ZiyanReturnCode HalUart_ReadData(T_ZiyanUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
{
int32_t ret;
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
if (uartHandle == NULL || buf == NULL || len == 0 || realLen == NULL) {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ret = read(uartHandleStruct->uartFd, buf, len);
if (ret >= 0) {
*realLen = ret;
} else {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_ZiyanReturnCode HalUart_GetStatus(E_ZiyanHalUartNum uartNum, T_ZiyanUartStatus *status)
{
if (uartNum == ZIYAN_HAL_UART_NUM_0) {
status->isConnect = true;
} else if (uartNum == ZIYAN_HAL_UART_NUM_1) {
status->isConnect = true;
} else {
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
return ZIYAN_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT ZIYAN Innovations *****END OF FILE****/