临时保存

-/**
- ********************************************************************
- * @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****/