修改了dji的speaker逻辑，避免说循环无法打断的情况，修正了4g警灯相关的同步问题，修正了opusfile列表上传索引值未正常归0的问题

修复了 修改hal层时，devicepsdk的结构体出错，导致uartid错乱的问题
增加了部分警灯5b帧

 # 编译链的配置
 
 #1、编译链与设备类型的选择
-set(DEVICE_NAME JZ_H150A)
+set(DEVICE_NAME JZ_T40S)
 #上一行为禁止修改行
 
 message("**************************JZSDK构建编译开始***************************\n")

-#include <stdio.h>
+#include <stdio.h>
 #include "../JZsdk_Code/JZsdk_Code.h"
 
 
@@ -328,7 +328,7 @@ static int Comparison_5BFRAME_FirstLevelCode_0x66(char *getdata)
 
 		//回复警灯控制2类
 		case 0xA2:
-			return JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_CONTROL_2;
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_CONTROL_2;
 		break;
 
 		default:

@@ -62,14 +62,17 @@ static T_JZsdkReturnCode JzUser_LocalWrite(const JZ_U8* data, JZ_U16 dataLen)
         return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
 
     realLen = fwrite(data, 1, dataLen, logFile);
+    fflush(logFile);
     if (realLen != dataLen)
         return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
 
-    if (fflush(logFile) != 0)
-        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    //这里后续考虑加入保存fileno
+    //if (fflush(logFile) != 0)
+    //    return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+
+    //if (fsync(fileno(logFile)) != 0)
+    //    return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
 
-    if (fsync(fileno(logFile)) != 0)
-        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
 
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
@@ -144,17 +147,17 @@ static T_JZsdkReturnCode JzUser_LocalWriteFsInit(const JZ_U8 *path)
 
     fclose(logFileCnt);
 
-    //移除sd卡的计数文件
-    memset(systemCmd, 0, sizeof(systemCmd));
-    sprintf(systemCmd, "rm -f %sthelast", JZSDK_LOG_PATH);
-    ret = system(systemCmd);
-    if (ret != 0) {
-        JZSDK_LOG_ERROR("Remove file error, ret:%d.\r\n", ret);
-    }
+    ////移除sd卡的计数文件
+    //memset(systemCmd, 0, sizeof(systemCmd));
+    //sprintf(systemCmd, "rm -f %sthelast", JZSDK_LOG_PATH);
+    //ret = system(systemCmd);
+    //if (ret != 0) {
+    //    JZSDK_LOG_ERROR("Remove file error, ret:%d.\r\n", ret);
+    //}
 
     //复制日志计数文件到sd卡
     memset(systemCmd, 0, sizeof(systemCmd));
-    sprintf(systemCmd, "cp %s %s", JZSDK_LOG_INDEX_FILE_NAME, JZSDK_LOG_PATH);
+    sprintf(systemCmd, "cp %s %s/thelast", JZSDK_LOG_INDEX_FILE_NAME, JZSDK_LOG_PATH);
     ret = system(systemCmd);
     if (ret != 0) {
         JZSDK_LOG_ERROR("Copy file error, ret:%d.\r\n", ret);

-/******************************
+/******************************
  * 
  *  JZsdk的任务管理模块
  * 
@@ -42,6 +42,8 @@ T_JZsdkReturnCode TaskManagement_Init()
         pthread_cond_init(&TaskPool[i].condition, NULL);
         pthread_create(&TaskPool[i].thread, NULL, TaskManagement_ThreadFunction, &TaskPool[i]);
     }
+
+
 }
 
 /**************

@@ -7,7 +7,7 @@
 #define VERSION_CHOOSE_H
 #include "JZsdk_Base/JZsdk_Code/JZsdk_DeviceCode.h"
 //1~10行 除了D可以修改版本选择 禁止动任何东西
-#define DEVICE_VERSION JZ_H150A
+#define DEVICE_VERSION JZ_T40S
 
 //禁止修改行 选择是串口程序 还是 psdk程序
 #define APP_VERSION APP_PSDK
@@ -23,7 +23,7 @@
 #define MODIFY_VERSION_TEN_POSITION 1
 #define MODIFY_VERSION_ONE_POSITION 5
 #define DEBUG_VERSION_TEN_POSITION 0
-#define DEBUG_VERSION_ONE_POSITION 2
+#define DEBUG_VERSION_ONE_POSITION 4
 
 #define FIRMWARE_ORIGIN DOMESTIC_VERSION
 

@@ -3483,6 +3483,8 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_LaserStatus(int Port, char *getbuf
     //2、查询激光状态
     int LaserControl = JZ_FLAGCODE_OFF;
     int LaserMode = 0;
+    int LaserLumen = 0;
+    int LaserColor = 0;
     T_JZsdkReturnCode ReturnCode = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 
 #ifdef SIDE_LASER_STATUS_ON
@@ -3494,6 +3496,15 @@ static T_JZsdkReturnCode RecvDeal_CheckStatus_LaserStatus(int Port, char *getbuf
     LaserControl = LaserInfo.attribute.status;
     LaserMode = LaserInfo.attribute.mode;
     
+    if(LaserInfo.PowerAttribute.flag == JZ_FLAGCODE_ON )
+    {
+        LaserLumen = LaserInfo.PowerAttribute.lumen;
+        LaserColor = LaserInfo.PowerAttribute.color;
+
+        HalSend_type1Send_LaserLumen(Port, 0x00, LaserLumen);
+        HalSend_type1Send_LaserColor(Port, 0x00, LaserColor);
+    }
+
 #else
 
     JZSDK_LOG_ERROR("没有加载侧边激光模块");

@@ -1915,6 +1915,55 @@ T_JZsdkReturnCode HalSend_type1Send_LaserMode(int Uartport, int frameSequence, i
 }
 
 
+/********************
+ * 
+ *  发送侧面激光亮度
+ * 
+ * *************/
+T_JZsdkReturnCode HalSend_type1Send_LaserLumen(int Uartport, int frameSequence, int Lumen)
+{
+    JZSDK_LOG_INFO("发送侧面激光亮度值帧\n");
+
+    unsigned char sendbuf[256];
+    int  send_buf_len;
+
+    //1、获取帧样板
+    JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_LUMEN, sendbuf, &send_buf_len);
+
+    //2、写入数据
+    sendbuf[6] = frameSequence;
+    sendbuf[9] = Lumen;
+
+    //3、发送帧
+    HalSend_SendData(Uartport ,sendbuf, send_buf_len, MULTI_THREAD_SEND);
+}
+
+
+/********************
+ * 
+ *  发送侧面激光颜色
+ * 
+ * *************/
+T_JZsdkReturnCode HalSend_type1Send_LaserColor(int Uartport, int frameSequence, int Color)
+{
+    JZSDK_LOG_INFO("发送侧面激光颜色帧\n");
+
+    unsigned char sendbuf[256];
+    int  send_buf_len;
+
+    //1、获取帧样板
+    JZsdk_GetFrameTemplate(JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS_COLOR, sendbuf, &send_buf_len);
+
+    //2、写入数据
+    sendbuf[6] = frameSequence;
+    sendbuf[9] = Color;
+
+    //3、发送帧
+    HalSend_SendData(Uartport ,sendbuf, send_buf_len, MULTI_THREAD_SEND);
+}
+
+
+
 /*************
  * 
  *  发送探照灯温度

-/**
+/**
  ********************************************************************
  * @file   JZsdk_Uart_SendDeal.h
  *       
@@ -131,6 +131,8 @@ T_JZsdkReturnCode HalSend_type1Send_CheckStatus_SearchLight_Temperture(int Uartp
 
 
 T_JZsdkReturnCode HalSend_type1Send_WarningLight_Status(int Uartport, int status, int mode);
+T_JZsdkReturnCode HalSend_type1Send_WarningLight_WarningLightMode2(int Uartport, int mode);
+
 T_JZsdkReturnCode HalSend_type1Send_WarningLight_Color(int Uartport, int color1, int color2);
 T_JZsdkReturnCode HalSend_type1Send_CheckStatus_WarningLightStatus(int Uartport);
 T_JZsdkReturnCode HalSend_type1Send_CheckStatus_WarningLightColor(int Uartport);
@@ -149,6 +151,8 @@ T_JZsdkReturnCode HalSend_type1Send_Reply_UpgradeStatus(int Uartport, int status
 
 T_JZsdkReturnCode HalSend_type1Send_LaserControl(int Uartport, int frameSequence, int Control);
 T_JZsdkReturnCode HalSend_type1Send_LaserMode(int Uartport, int frameSequence, int mode);
+T_JZsdkReturnCode HalSend_type1Send_LaserLumen(int Uartport, int frameSequence, int Lumen);
+T_JZsdkReturnCode HalSend_type1Send_LaserColor(int Uartport, int frameSequence, int Color);
 
 
 T_JZsdkReturnCode HalSend_type1Send_SetLaserControl(int Uartport, int frameSequence, int Control);

@@ -155,7 +155,7 @@ T_JZsdkReturnCode JZsdk_HalUartInit(T_JZsdk_UartInfo* pUartInfo)
     g_pHalInfo->HaveUsePortId[g_pHalInfo->HaveUsePortNum] = pUartInfo->Base.PortId;
     g_pHalInfo->HaveUsePortNum++;
 
-    JZSDK_LOG_INFO("UART端口 0x%x 初始化成功", pUartInfo->Base.PortId);
+    JZSDK_LOG_INFO("UART端口 第:%d  0x%x 初始化成功", (g_pHalInfo->HaveUsePortNum - 1), g_pHalInfo->HaveUsePortId[g_pHalInfo->HaveUsePortNum - 1]);
     ret = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 
 unlock:
@@ -296,16 +296,16 @@ T_JZsdkReturnCode JZsdk_HalDirectDataInit(T_JZsdk_DirectDataInfo* pDirectDataInf
     // 4 初始化直通
     //（只是把id打开）
 
-    // 5. 保存UART信息到UART数组（使用UartNum作为索引）
+
     int Index = g_pHalInfo->DirectNum;
-    memcpy(&g_pHalInfo->DirectDataInfo[Index], pDirectDataInfo, sizeof(T_JZsdk_UartInfo));
-    g_pHalInfo->UartNum++;
+    memcpy(&g_pHalInfo->DirectDataInfo[Index], pDirectDataInfo, sizeof(T_JZsdk_DirectDataInfo));
+    g_pHalInfo->DirectNum++;
 
     // 6. 记录端口ID到全局已使用表
     g_pHalInfo->HaveUsePortId[g_pHalInfo->HaveUsePortNum] = g_pHalInfo->DirectDataInfo->Base.PortId;
-    g_pHalInfo->HaveUsePortNum++;
+    (g_pHalInfo->HaveUsePortNum)++;
 
-    JZSDK_LOG_INFO("DIRECT端口 0x%x 初始化成功", pDirectDataInfo->Base.PortId);
+    JZSDK_LOG_INFO("DIRECT端口 num:%d 0x%x 初始化成功", (g_pHalInfo->HaveUsePortNum - 1 ),pDirectDataInfo->Base.PortId);
     ret = JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 
 unlock:

@@ -27,7 +27,7 @@ T_JZsdkReturnCode HeartBeat_HalCheck(void)
         T_JZsdk_PortBase* portBase = JZsdk_FindPortBase(portId);
         if (portBase == NULL)
         {
-            JZSDK_LOG_WARN("端口 %d 在已使用列表中但未找到对应结构", portId);
+            JZSDK_LOG_WARN("第 %d 端口 %d  在已使用列表中但未找到对应结构",i ,portId);
             continue;
         }
 

@@ -280,7 +280,7 @@ T_JZsdkReturnCode Gimbal_SetGimbalRange(int flag, int FrameSequence,int value)
  * ************************************/
 T_JZsdkReturnCode Gimbal_Set_GimbalSingleCalibration(E_JZ_GimbalSingleCalibrationMode Mode)
 {
-    JZSDK_LOG_INFO("单边云台校准选择 Mode:%d 0x%x", Mode);
+    JZSDK_LOG_INFO("单边云台校准选择 Mode:%d", Mode);
 
     switch (Mode)
     {

@@ -299,6 +299,8 @@ T_JZsdkReturnCode Megaphone_TTS_Play(unsigned char *str, unsigned int str_len, i
 {
     T_JZsdkReturnCode ret;
 
+    JZSDK_LOG_INFO("TTS_PLAY:%s",str);
+
     memset(g_MegaphoneInfo, 0, sizeof(struct MegaphoneInfo));
     memcpy(g_MegaphoneInfo->str,str,str_len);
     g_MegaphoneInfo->str_len = str_len;
@@ -1168,15 +1170,19 @@ T_JZsdkReturnCode Megaphone_Init()
 
     //TTS功能初始化
 	Megaphone_TTS_Init();
+    JZSDK_LOG_INFO("TTS_INIT_SUCESS");
 
     //音频文件管理功能初始化
     Megaphone_AudioFile_Init(); 
+    JZSDK_LOG_INFO("AUDIO_FILE_INIT_SUCESS");
 
     //pcm列表初始化
     Megaphone_PcmFile_Init();
+    JZSDK_LOG_INFO("PCM_FILE_INIT_SUCESS");
 
     //温控初始化
     MegTempControl_Init();
+    JZSDK_LOG_INFO("MEG_TEMP_INIT_SUCESS");
 
     //根据语言信息设置默认语言
     E_LanguageInfo LanguageInfo = LanguageInfo_Get_LanguageInfo();

@@ -60,6 +60,7 @@ T_JZsdkReturnCode OpusInfo_GetList(T_JZ_opusInfo** list, int* count);
 T_JZsdkReturnCode OpusInfo_DeleteAllByName(const char* fileName);
 T_JZsdkReturnCode OpusInfo_FlushList();
 
+T_JZsdkReturnCode JZsdk_OpusFileSave_Get_g_TempOpus(T_OpusSaveParam* Param);
 
 
 T_JZsdkReturnCode OpusInfo_Init();

@@ -363,6 +363,8 @@ DecodeFinsh:
 /*******************
 *
 *      opus解码线程
+*      注意，这里只会第一上传的opus调用
+*      如果是opus列表播放，是不会用到这里的
 *
 *******************/
 static void *DecodeOpus_task(void *arg)
@@ -374,6 +376,16 @@ static void *DecodeOpus_task(void *arg)
     {
         //广播解码失败
         Megaphone_Broadcast_OpusDecodeStatus(1);
+
+        //如果开启了opus保存，则把opus列表里的也移除
+        //从opusfilesave.c 里获取第一次上传后，是否开启保存，以及保存的地址
+        T_OpusSaveParam Param = { 0 };
+
+        JZsdk_OpusFileSave_Get_g_TempOpus(&Param);
+        if (Param.saveflag == JZ_FLAGCODE_ON  && Param.FileName != NULL)
+        {
+            OpusInfo_DeleteAllByName(Param.FileName);
+        }
     }
     else
     {

@@ -6,7 +6,13 @@
 #define OPUS_TEMP_SAVE_DIR "/root/test_audio.opus"
 
 
-static T_OpusSaveParam g_TempOpus = {0};
+static T_OpusSaveParam g_TempOpus = {
+	.BitRate = 0,
+	.Channels = 0,
+	.FileName = {0},
+	.SampleRate = 0,
+	.saveflag = JZ_FLAGCODE_OFF
+};
 static int g_OpusFile_SaveFlag = JZ_FLAGCODE_OFF; //判断是否开启保存中的标志位
 static int g_OpusFile_SaveLen = 0; //当前文件已存储的长度
 static T_JZTaskHandle s_OpusSaveThread = NULL;
@@ -19,6 +25,13 @@ int OpusFile_GetSaveFlag()
 	return g_OpusFile_SaveFlag;
 }
 
+T_JZsdkReturnCode JZsdk_OpusFileSave_Get_g_TempOpus(T_OpusSaveParam *Param)
+{
+	memcpy(Param, &g_TempOpus, sizeof(T_OpusSaveParam));
+
+	return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 /******************
  *
  *
@@ -72,6 +85,7 @@ T_JZsdkReturnCode OpusFile_SaveOpusFileStart(T_OpusSaveParam TempOpus)
 		return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
 	}
 
+	g_OpusFile_SaveLen = 0;
 	g_OpusFile_SaveFlag = JZ_FLAGCODE_ON;
 
 	//创建存储显示线程

@@ -18,6 +18,8 @@
 
 #include "iflytek_tts.h"
 
+static int ttsFlag = JZ_FLAGCODE_OFF; //避免同时2个tts线程
+
 static T_JZsdkReturnCode IflyTek_2_Tts_Input(int language, char *Text, int speed, int volume)
 {
     //1、将JZSDK的Language索引值转换为 IFLTEK2的语言索引值
@@ -157,6 +159,8 @@ static T_JZsdkReturnCode TTS_FILE_play(struct t_Megaphone_tts_param *Megaphone_t
 //TTS合成线程
 static void *Play_cntts_pthread(void *arg)
 {
+	ttsFlag = JZ_FLAGCODE_ON;
+
 	struct t_Megaphone_tts_param *Megaphone_tts_param = (struct t_Megaphone_tts_param *) arg;
 
 	int ReplyFlag = Megaphone_tts_param->ReplyFlag;
@@ -199,6 +203,7 @@ static void *Play_cntts_pthread(void *arg)
 		Megaphone_status_Broadcast(JZ_FLAGCODE_OFF);
 	}
 
+	ttsFlag = JZ_FLAGCODE_OFF;
 }
 
 /*********
@@ -208,6 +213,12 @@ static void *Play_cntts_pthread(void *arg)
 **********/
 T_JZsdkReturnCode Iflytek_2_Play(unsigned char *str, unsigned int str_len, int ReplyFlag)
 {
+	//保证一次只有一个文本线程在运行
+	while (ttsFlag == JZ_FLAGCODE_ON)
+	{
+		delayMs(1);
+	}
+
 	//1、制造一个数据产生函数
 	pthread_t TTS_flie_task;
 	pthread_attr_t task_attribute; //线程属性

-#include "JZsdkLib.h"
+#include "JZsdkLib.h"
 #include "Megaphone.h"
 #include "./VolumeLimit.h"
 #include "DeviceInfo/DeviceInfo.h"
@@ -124,7 +124,7 @@ static T_JZsdkReturnCode Megaphone_SetTTSvolume()
 	//v3s自设系统 要提高10初始音量
 	if (DEVICE_VERSION == JZ_H10T || DEVICE_VERSION == JZ_U3 || 
         DEVICE_VERSION == JZ_U3S || DEVICE_VERSION == JZ_U3D || 
-        DEVICE_VERSION == JZ_U30 || DEVICE_VERSION == JZ_T40 || DEVICE_VERSION == JZ_T40S)
+        DEVICE_VERSION == JZ_U30  || DEVICE_VERSION == JZ_T40S || DEVICE_VERSION == JZ_H150A)
 	{
 		if (value > 0)
 		{

@@ -104,6 +104,7 @@ static T_JZsdkReturnCode UI_control_SecondaryWidgetArraySet(int type, int value)
     T_JZsdkToPsdkHandler *handle = ExpansionApi_JZsdkToPsdk_GetHandler();
     if (handle == NULL)
     {
+        JZSDK_LOG_ERROR("api handle is null");
         return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
     }
 
@@ -129,6 +130,10 @@ static T_JZsdkReturnCode UI_control_SecondaryWidgetArraySet(int type, int value)
             {
                 return handle->Set_UI_SpeakerWidget_Volume(value);
             }
+            else
+            {
+                JZSDK_LOG_ERROR("音量表格错误");
+            }
         break;
 
 

-#include "Psdk_ui_value_menu.h"
+#include "Psdk_ui_value_menu.h"
 #include "JZsdkLib.h"
 #include "DeviceInfo/DeviceInfo.h"
 
@@ -322,14 +322,14 @@ static T_JZsdkReturnCode JZsdk_UI_DJIpsdk_Widget_set(JZsdk_Widget_Control index,
         case JZSDK_WIDGET_SIDE_LASER_LUMEN:
         {
             temp = value;
-            UI_control_WidgetArraySet(34, temp);
+            UI_control_WidgetArraySet(30, temp);
         }
         break;
 
         case JZSDK_WIDGET_SIDE_LASER_COLOR:
         {
             temp = value;
-            UI_control_WidgetArraySet(35, temp);
+            UI_control_WidgetArraySet(31, temp);
         }
         break;
 

@@ -1927,6 +1927,10 @@ T_JZsdkReturnCode UIcontrol_ObtainWarningLight_Status(int DeviceName, int status
     //1、设置本地存储值
     WarnLight_Obatin_StatusAndMode(status, mode);
 
+    //获取当前警灯属性
+    T_JzWarnLightAttribute LightAttribute;
+    WarnLight_Get_Attribute(&LightAttribute);
+
     //2、通知其他设备变化
     if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G) )
     {
@@ -1945,7 +1949,18 @@ T_JZsdkReturnCode UIcontrol_ObtainWarningLight_Status(int DeviceName, int status
     //如果psdk接口已经使用
     if ( (JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK )
     {
+        int index;
+
+        if (LightAttribute.status == JZ_FLAGCODE_OFF)
+        {
+            index = 0;
+        }
+        else
+        {
+            index = LightAttribute.mode;
+        }
 
+        JZsdk_Psdk_UI_io_Set_WarningLightMode(JZ_FLAGCODE_OFF, index);
     }
 
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -2802,14 +2817,17 @@ T_JZsdkReturnCode UIcontrol_SideLaser_SetLumen(int DeviceName, int WeatherFlush,
     //2、通知其他设备变化
     if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G))
     {
+        HalSend_type1Send_LaserLumen(UART_4G, 0x00, Info.PowerAttribute.lumen);
     }
     //如果设备1有启动
     if ((JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1))
     {
+        HalSend_type1Send_LaserLumen(UART_DEV_1, 0x00, Info.PowerAttribute.lumen);
     }
     //如果设备2有启动
     if ((JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2))
     {
+        HalSend_type1Send_LaserLumen(UART_DEV_2, 0x00, Info.PowerAttribute.lumen);
     }
     //如果psdk接口已经使用
     if ((JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK)
@@ -2844,14 +2862,17 @@ T_JZsdkReturnCode UIcontrol_SideLaser_SetColor(int DeviceName, int value)
     //2、通知其他设备变化
     if ((JZsdk_HalPort_UseFlag(UART_4G) == JZ_FLAGCODE_ON) && (DeviceName != UART_4G))
     {
+        HalSend_type1Send_LaserColor(UART_4G, 0x00, Info.PowerAttribute.color);
     }
     //如果设备1有启动
     if ((JZsdk_HalPort_UseFlag(UART_DEV_1) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_1))
     {
+        HalSend_type1Send_LaserColor(UART_DEV_1, 0x00, Info.PowerAttribute.color);
     }
     //如果设备2有启动
     if ((JZsdk_HalPort_UseFlag(UART_DEV_2) == JZ_FLAGCODE_ON) && (DeviceName != UART_DEV_2))
     {
+        HalSend_type1Send_LaserColor(UART_DEV_2, 0x00, Info.PowerAttribute.color);
     }
     //如果psdk接口已经使用
     if ((JZsdk_HalPort_UseFlag(DEVICE_PSDK) == JZ_FLAGCODE_ON) && DeviceName != DEVICE_PSDK)
@@ -2908,7 +2929,6 @@ T_JZsdkReturnCode UIcontrol_Broadcast_PlayStatus_end()
     }
 
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
-
 }
 
 

-#include "JZsdkLib.h"
+#include "JZsdkLib.h"
 
 #include "version_choose.h"
 #include "Hal_Send/HalSend.h"
@@ -148,14 +148,15 @@ T_JZsdkReturnCode WarnLight_Get_Attribute(T_JzWarnLightAttribute *Attribute)
 
 T_JZsdkReturnCode WarnLight_SendStatus(T_JzWarnLightAttribute LightAttribute, int UartPort)
 {
+    //Ⅰ型控制
     if (g_WarnLightInfo.mode_version == 0)
     {
-        HalSend_type1Send_WarningLight_Status(UartPort, LightAttribute.status, LightAttribute.mode);
+        HalSend_type1Send_WarningLight_Status(UartPort, LightAttribute.status, (LightAttribute.mode - 1));
+    }
+    else
+    {
+        HalSend_type1Send_WarningLight_WarningLightMode2(UartPort, LightAttribute.mode);
     }
-    // else
-    // {
-    //     HalSend_type1Send_WarningLight_Status_2(UartPort, LightAttribute.mode);
-    // }
     
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }

@@ -171,10 +171,10 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
     {28, DJI_WIDGET_TYPE_LIST,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},  //云台补偿模式
     {29, DJI_WIDGET_TYPE_BUTTON,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL}, //设置云台补偿值
     
+    {30, DJI_WIDGET_TYPE_SCALE,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},//占坑
+    {31, DJI_WIDGET_TYPE_LIST,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},//占坑
+
     //占坑 后续加载方法肯定要换，这种手写方式太不好了
-    {29, DJI_WIDGET_TYPE_BUTTON,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},//占坑
-    {30, DJI_WIDGET_TYPE_BUTTON,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},//占坑
-    {31, DJI_WIDGET_TYPE_BUTTON,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},//占坑
     {32, DJI_WIDGET_TYPE_BUTTON,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},//占坑
     {33, DJI_WIDGET_TYPE_BUTTON,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},//占坑
     {34, DJI_WIDGET_TYPE_BUTTON,       DjiTestWidget_SetWidgetValue, DjiTestWidget_GetWidgetValue, NULL},//占坑
@@ -639,14 +639,14 @@ static T_JZsdkReturnCode Megphone_Widget(unsigned int index, unsigned int value)
  
 		case 3://内显示音量       scale
         {
-            delayMs(50);//避免拉滑动条设置太多次
+            delayMs(100);//避免拉滑动条设置太多次
             JZsdk_Psdk_UI_io_LumenAndVolume_PowerLimitation(1, value);
             JZsdk_Psdk_UI_io_SetVolume(1,value);
             break;
         }
 		case 4://外显示音量       scale
         {
-            delayMs(50);//避免拉滑动条设置太多次
+            delayMs(100);//避免拉滑动条设置太多次
             JZsdk_Psdk_UI_io_LumenAndVolume_PowerLimitation(1, value);
             JZsdk_Psdk_UI_io_SetVolume(1,value);
             break;
@@ -751,14 +751,14 @@ static T_JZsdkReturnCode Megphone_Widget(unsigned int index, unsigned int value)
             break;   
         }
 
-        case 34://激光亮度
+        case 30://激光亮度
         {
             int lumen = value;
             JZSDK_WidgetMgMT_ConrtrolInputTask(JZSDK_WIDGET_SIDE_LASER_LUMEN, lumen);
             break;
         }
 
-        case 35://激光颜色
+        case 31://激光颜色
         {
             int color = value;
             JZSDK_WidgetMgMT_ConrtrolInputTask(JZSDK_WIDGET_SIDE_LASER_COLOR, color);
@@ -927,6 +927,7 @@ static T_JZsdkReturnCode Megphone_Widget(unsigned int index, unsigned int value)
 
         case 42://设置云台补偿
         {
+            JZSDK_LOG_INFO("设置云台补充:%d", Temp_GimbalCompensation_Flag);
             Temp_GimbalCalibration_Flag = value;
             break;
         }

-/**
+/**
  ********************************************************************
  * @file    test_widget_speaker.c
  * @brief
@@ -320,7 +320,7 @@ DecodeFinsh:
 
 static T_DjiReturnCode DjiTest_PlayAudioData(void)
 {
-	USER_LOG_INFO("播放固定位置的录音DjiTest_PlayAudioData ");
+	JZSDK_LOG_INFO("播放固定位置的录音DjiTest_PlayAudioData ");
 #ifdef MEGAPHONE_CONFIG_STATUS_ON
     do
     {
@@ -350,6 +350,7 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
     T_DjiReturnCode returnCode;
 
     USER_LOG_INFO("DjiTest_PlayTtsData");
+    JZSDK_LOG_INFO("DjiTest_PlayTtsData");
 
     returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -398,7 +399,7 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
 #ifdef MEGAPHONE_CONFIG_STATUS_ON
 
     //增加一个标志位，确认播放完成
-    while (Megaphone_GetMegaphoneStatus() == 0x20) //如果仍然在播放opus录音
+    while (Megaphone_GetMegaphoneStatus() == 0x20) //如果仍然在播放tts
     {
         delayMs(100);
     }
@@ -645,7 +646,7 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
     T_DjiReturnCode returnCode;
 
     tts_Or_audio_flag = 1;
-    JZSDK_LOG_INFO("TTS接收");
+    JZSDK_LOG_INFO("TTS接收 :%d size:%d", event, size);
 
     if (event == DJI_WIDGET_TRANSMIT_DATA_EVENT_START) {
         USER_LOG_INFO("Create tts file.");
@@ -703,7 +704,9 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
     int RealTime_PlayMode_Switch =  Get_Opus_PlayMode();    
 
     tts_Or_audio_flag = 2;
-    JZSDK_LOG_INFO("audio接收");
+    //JZSDK_LOG_INFO("audio接收");
+
+    JZSDK_LOG_INFO("AUDIO接收 :%d size:%d", event, size);
 
     if(RealTime_PlayMode_Switch == 0)
     {
@@ -844,7 +847,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
         }
     }
 
-    JZSDK_LOG_INFO("audio接受完毕");
+    //JZSDK_LOG_INFO("audio接受完毕");
     
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
@@ -872,29 +875,29 @@ static void *DjiTest_WidgetSpeakerTask(void *arg)
         }
 
         if (s_speakerState.state == DJI_WIDGET_SPEAKER_STATE_PLAYING) {
-            //如果处于回放模式
-            if (s_speakerState.playMode == DJI_WIDGET_SPEAKER_PLAY_MODE_LOOP_PLAYBACK)
-            {
-                if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
-                    USER_LOG_DEBUG("Waiting opus decoder finished...");
-                    while (s_isDecodeFinished == false) {
-                        osalHandler->TaskSleepMs(1);
-                    }
-                    djiReturnCode = DjiTest_PlayAudioData();
-                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-                        USER_LOG_ERROR("Play audio data failed, error: 0x%08llX.", djiReturnCode);
-                    }
-                } else {
-                    djiReturnCode = DjiTest_PlayTtsData();
-                    if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-                        USER_LOG_ERROR("Play tts data failed, error: 0x%08llX.", djiReturnCode);
-                    }
-                }
-                osalHandler->TaskSleepMs(1000);
-            } 
-            
-            //单放模式
-            else {
+            ////如果处于回放模式
+            //if (s_speakerState.playMode == DJI_WIDGET_SPEAKER_PLAY_MODE_LOOP_PLAYBACK)
+            //{
+            //    if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
+            //        USER_LOG_DEBUG("Waiting opus decoder finished...");
+            //        while (s_isDecodeFinished == false) {
+            //            osalHandler->TaskSleepMs(1);
+            //        }
+            //        djiReturnCode = DjiTest_PlayAudioData();
+            //        if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            //            USER_LOG_ERROR("Play audio data failed, error: 0x%08llX.", djiReturnCode);
+            //        }
+            //    } else {
+            //        djiReturnCode = DjiTest_PlayTtsData();
+            //        if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            //            USER_LOG_ERROR("Play tts data failed, error: 0x%08llX.", djiReturnCode);
+            //        }
+            //    }
+            //    osalHandler->TaskSleepMs(1000);
+            //} 
+            //
+            ////单放模式
+            //else {
                 //如果工作模式为语音
                 if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) 
                 {
@@ -920,16 +923,16 @@ static void *DjiTest_WidgetSpeakerTask(void *arg)
                     USER_LOG_ERROR("lock mutex error: 0x%08llX.", djiReturnCode);
                 }
 
-                if (s_speakerState.playMode == DJI_WIDGET_SPEAKER_PLAY_MODE_SINGLE_PLAY) 
-                {
+                //if (s_speakerState.playMode == DJI_WIDGET_SPEAKER_PLAY_MODE_SINGLE_PLAY) 
+                //{
                     s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
-                }
+                //}
 
                 djiReturnCode = osalHandler->MutexUnlock(s_speakerMutex);
                 if (djiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
                     USER_LOG_ERROR("unlock mutex error: 0x%08llX.", djiReturnCode);
                 }
-            }
+            //}
         }
     }
 }
@@ -948,7 +951,7 @@ T_JZsdkReturnCode Speaker_Set_SpeakerState_state(int value)
     s_speakerState.state = value;
 }
 
-//循环模式
+//循环模式90
 T_JZsdkReturnCode Speaker_Set_SpeakerPlaymode(int value)
 {
     s_speakerState.playMode =  value;
@@ -957,6 +960,7 @@ T_JZsdkReturnCode Speaker_Set_SpeakerPlaymode(int value)
 //音量
 T_JZsdkReturnCode Speaker_Set_SpeakerVolume(int value)
 {
+    //JZSDK_LOG_DEBUG("set speaker_volume ：%d ",value);
     s_speakerState.volume = value;	
 }
 

 # cmake 最低版本要求 第三行名字不能动
 cmake_minimum_required(VERSION 2.8)
-project(JZ_H150A) 
+project(JZ_T40S) 
 
 #set(CMAKE_C_FLAGS "-pthread -std=gnu99 -lm -ldl -lstdc++")
 #"-pthread":指定在编译时链接POSIX线程库,以支持多线程程序。

-/**
+/**
  ********************************************************************
  * @file    hal_uart.h
  * @brief   This is the header file for "hal_uart.c", defining the structure and
@@ -51,8 +51,8 @@ extern "C" {
 //User can config dev based on there environmental conditions
 #define LINUX_UART_DEV1    UART_DEV1_NUM
 #define LINUX_UART_DEV2    "/dev/ttyACM0"
-#define USB_UART_CONNECTED_TO_UAV_VID (0x2CA3)
-#define USB_UART_CONNECTED_TO_UAV_PID (0xF002)
+#define USB_UART_CONNECTED_TO_UAV_VID (0x10c4)
+#define USB_UART_CONNECTED_TO_UAV_PID (0xea60)
 /* Exported types ------------------------------------------------------------*/
 
 /* Exported functions --------------------------------------------------------*/