Merge pull request #99 from dji-sdk/release/v3.5

NEW: release DJI Payload-SDK version 3.5

LICENSE.txt

@@ -316,7 +316,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │       │   │       ├── hal_uart.h
 │   │       │   │       ├── hal_usb_bulk.c
 │   │       │   │       └── hal_usb_bulk.h
-│   │       │   └── nvidia_jeston
+│   │       │   └── nvidia_jetson
 │   │       │       ├── application
 │   │       │       │   ├── dji_sdk_app_info.h
 │   │       │       │   ├── dji_sdk_config.h
@@ -497,7 +497,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │               │       ├── hal_uart.h
 │               │       ├── hal_usb_bulk.c
 │               │       └── hal_usb_bulk.h
-│               └── nvidia_jeston
+│               └── nvidia_jetson
 │                   ├── application
 │                   │   ├── application.cpp
 │                   │   ├── application.hpp

README.md

@@ -1,6 +1,6 @@
 # DJI Payload SDK (PSDK)
 
-![](https://img.shields.io/badge/version-V3.4.0-pink.svg)
+![](https://img.shields.io/badge/version-V3.5.0-yellow.svg)
 ![](https://img.shields.io/badge/platform-linux_|_rtos-green.svg)
 ![](https://img.shields.io/badge/license-MIT-blue.svg)
 
@@ -23,37 +23,22 @@ to get the latest version information.
 
 ## Latest Release
 
-PSDK 3.4.0 was released on 18 April 2023. This version of Payload SDK mainly add some new features support and fixed
-some bugs. Please refer to the release notes for detailed changes list.
-
-* Added support for SDK interconnection on M30/M30T
-* Added support for downloading camera media files on M3E/M3T
-* Added support for infrared temperature in camera management on M30T/M3T
-* Added support for waypoint action status push on M30/M30T and M3E/M3T
-* Added support for custom HMS function on all models
-* Added support for custom device version number and serial number on all models
-* Added support for subscribing to video stream request I-frame on all models
-* Added support for obtaining H20N laser distance measurement data camera management on M300 RTK
-* Added support for controlling H20N infrared zoom in camera management on M300 RTK
-* Added support for subscribing perception grayscale image by Ethernet on M30/M30T and M3E/M3T
-* Added support for downloading camera media files by Ethernet on M30/M30T and M3E/M3T
-* Added support for Nvidia Jeston series development boards sample
-* Added support for H20/H20T model files
-* Fixed issue with unsuccessful initialization in USB single Bulk mode on M30/M30T and M3E/M3T
-* Fixed issue with unstable data transmission OSDK expansion port to PSDK port for passing through small data on M300 RTK
-* Fixed issue with third-party camera function causing payload disconnection due to deleting all media files in certain platforms on M300 RTK
-* Fixed issue with gimbal mode abnormal setting in gimbal management on M300 RTK
-* Fixed issue with deleting L1 camera media files in camera management on M300 RTK
-* Fixed issue with abnormal triggering of text input box widget function in RTOS platform on M300 RTK
-* Fixed issue with abnormal payload power supply during hot plugging in some scenarios in RTOS platform on M3E/M3T
-* Fixed issue with CPU loading abnormal usage due to multiple video stream subscriptions on M30/M30T
-* Fixed issue with occasional payload negotiation failure on M30/M30T and M3E/M3T
-* Fixed issue with obtaining camera work mode on M30/M30T and M3E/M3T
-* Fixed issue with obtaining camera zoom parameters on M30/M30T and M3E/M3T
-* Fixed issue with altitude and distance limitations when using joystick function in some scenarios on all models
-* Fixed some memory leak issues
-* Optimized camera management C++ Sample support
-* Optimized gimbal management C++ Sample support
+PSDK 3.5.0 was released on 18 May 2023. This version of Payload SDK mainly add support for M350 RTK, also add some new features support and fixed some bugs. 
+Please refer to the release notes for detailed changes list.
+
+* Added support for new drone model Matrice 350 RTK
+* Matrice 300 RTK added support for DJI RC Plus
+* Added support for downloading media files in pieces on all drone models
+* Added support for Osal get random number callback interface on all drone model
+* Fixed issue with the black screen problem when uses third-party camera to playback video on M300 RTK and DJI smart controller screen combination
+* Fixed issue with failure of subscribing L1 camera code stream on M300 RTK
+* Fixed issue with failure of subscribing main camera code stream in dual control mode on M300 RTK
+* Fixed issue with local upgrade function of RTOS platform on Mavic 3E/3T
+* Fixed issue with the initialization failure of using PSDK Payload device and millimeter wave radar on M300 RTK
+* Fixed issue with custom HMS function on M300 RTK and X-Port combination
+* Fixed issue with invalid TTS option of speaker widget on M300 RTK
+* Fixed issue with downloading file list with high probability of failure when the camera photos are over 400 on M300 RTK
+* Fixed some of the memory leaks
 
 ## License
 

psdk_lib/include/dji_camera_manager.h

@@ -442,6 +442,12 @@ typedef enum {
     DJI_CAMERA_MANAGER_RECORDING_CONTROL_RESUME = 3,
 } E_DjiCameraManagerRecordingControl;
 
+typedef enum {
+    DJI_CAMERA_MANAGER_FILE_LIST_COUNT_60_PER_SLICE = 60,
+    DJI_CAMERA_MANAGER_FILE_LIST_COUNT_120_PER_SLICE = 120,
+    DJI_CAMERA_MANAGER_FILE_LIST_COUNT_ALL_PER_SLICE = 0xFFFF,
+} E_DjiCameraManagerFileListCountPerSlice;
+
 typedef struct {
     uint8_t firmware_version[4];
 } T_DjiCameraManagerFirmwareVersion;
@@ -500,6 +506,11 @@ typedef struct {
     T_DjiCameraManagerFileListInfo *fileListInfo;
 } T_DjiCameraManagerFileList;
 
+typedef struct {
+    uint16_t sliceStartIndex;
+    E_DjiCameraManagerFileListCountPerSlice countPerSlice;
+} T_DjiCameraManagerSliceConfig;
+
 typedef enum {
     DJI_DOWNLOAD_FILE_EVENT_START,
     DJI_DOWNLOAD_FILE_EVENT_TRANSFER,
@@ -1011,6 +1022,18 @@ T_DjiReturnCode DjiCameraManager_StopRecordVideo(E_DjiMountPosition position);
  */
 T_DjiReturnCode DjiCameraManager_DownloadFileList(E_DjiMountPosition position, T_DjiCameraManagerFileList *fileList);
 
+/**
+ * @brief Download selected camera media file list by slices.
+ * @note The interface is a synchronous interface, which occupies more CPU resources when using it.
+ * If the download file fails, the timeout time is 3S.
+ * @param position: the mount position of the camera
+ * @param sliceConfig: the slices config for downloading file list
+ * @param fileList: the pointer to the downloaded camera file list
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_DownloadFileListBySlices(E_DjiMountPosition position,
+                                                          T_DjiCameraManagerSliceConfig sliceConfig,
+                                                          T_DjiCameraManagerFileList *fileList);
 /**
  * @brief Regsiter selected camera download file data callback,
  * @param position: the mount position of the camera

psdk_lib/include/dji_fc_subscription.h

@@ -361,8 +361,8 @@ typedef enum {
     DJI_FC_SUBSCRIPTION_TOPIC_STATUS_MOTOR_START_ERROR = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC,
                                                                                      31),
     /*!
-     * @brief Battery information topic name. Please refer to ::T_DjiFcSubscriptionBatteryInfo for information about data structure.
-     * @datastruct \ref T_DjiFcSubscriptionBatteryInfo
+     * @brief Battery information topic name. Please refer to ::T_DjiFcSubscriptionWholeBatteryInfo for information about data structure.
+     * @datastruct \ref T_DjiFcSubscriptionWholeBatteryInfo
      */
     DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_INFO = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 32),
     /*!
@@ -977,13 +977,13 @@ typedef struct BatteryWholeInfo {
 typedef struct BatterySingleInfo {
     uint8_t reserve;
     uint8_t batteryIndex;
-    int32_t currentVoltage;          /*!< uint:mV. */
-    int32_t currentElectric;         /*!< uint:mA. */
-    uint32_t fullCapacity;           /*!< uint:mAh. */
-    uint32_t remainedCapacity;       /*!< uint:mAh. */
-    int16_t batteryTemperature;      /*!< uint:℃. */
+    int32_t currentVoltage;          /*!< uint: mV. */
+    int32_t currentElectric;         /*!< uint: mA. */
+    uint32_t fullCapacity;           /*!< uint: mAh. */
+    uint32_t remainedCapacity;       /*!< uint: mAh. */
+    int16_t batteryTemperature;      /*!< uint: 0.1℃. */
     uint8_t cellCount;
-    uint8_t batteryCapacityPercent;  /*!< uint:%. */
+    uint8_t batteryCapacityPercent;  /*!< uint: %. */
     T_DjiFcSubscriptionSingleBatteryState batteryState;
     uint8_t reserve1;
     uint8_t reserve2;

psdk_lib/include/dji_flight_controller.h

@@ -76,7 +76,6 @@ typedef enum {
  */
 typedef enum {
     DJI_FLIGHT_CONTROLLER_ENABLE_EMERGENCY_STOP_MOTOR = 0x01, /*!< Execute emergency-stop-motor action */
-    DJI_FLIGHT_CONTROLLER_DISABLE_EMERGENCY_STOP_MOTOR = 0x02  /*!< Cancel emergency-stop-motor status */
 } E_DjiFlightControllerEmergencyStopMotor;
 
 /**

psdk_lib/include/dji_platform.h

@@ -89,11 +89,14 @@ typedef enum {
     * Baud rate support list on M300 RTK Extension Port: 115200, 230400, 460800, 921600, 1000000.
     * Baud rate support list on M30/M30T: 115200, 230400, 460800, 921600, 1000000.
     * Baud rate support list on M3E/M3T: 921600.
+    * Baud rate support list on M350 RTK Payload Port: 115200, 230400, 460800, 921600.
+    * Baud rate support list on M350 RTK Extension Port: 115200, 230400, 460800, 921600, 1000000.
     * */
     DJI_HAL_UART_NUM_0,
     /**
-    * Only support on M300 RTK Extension Port by USB virtual serial port, such as /dev/ttyACM0.
+    * Only support on M300/M350 RTK Extension Port by USB virtual serial port, such as /dev/ttyACM0.
     * Baud rate support list on M300 RTK Extension Port: 921600.
+    * Baud rate support list on M350 RTK Extension Port: 921600.
     * */
     DJI_HAL_UART_NUM_1,
 } E_DjiHalUartNum;
@@ -221,6 +224,8 @@ typedef struct {
 
     T_DjiReturnCode (*GetTimeUs)(uint64_t *us);
 
+    T_DjiReturnCode (*GetRandomNum)(uint16_t *randomNum);
+
     void *(*Malloc)(uint32_t size);
 
     void (*Free)(void *ptr);

psdk_lib/include/dji_power_management.h

@@ -71,6 +71,12 @@ typedef T_DjiReturnCode (*DjiPowerOffNotificationCallback)(bool *powerOffPrepara
  */
 T_DjiReturnCode DjiPowerManagement_Init(void);
 
+/**
+ * @brief DeInitialise power management module, and user should call this function before using power management features.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiPowerManagement_DeInit(void);
+
 /**
  * @brief Apply high power from aircraft in blocking mode.
  * @details Before applying, user should register callback function used to set level state of high power application

psdk_lib/include/dji_typedef.h

@@ -83,7 +83,7 @@ typedef enum {
     DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 = 1,
     DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 = 2,
     DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3 = 3,
-    DJI_MOUNT_POSITION_EXTENSION_PORT = 4
+    DJI_MOUNT_POSITION_EXTENSION_PORT = 4,
 } E_DjiMountPosition;
 
 typedef enum {
@@ -92,6 +92,7 @@ typedef enum {
     DJI_AIRCRAFT_SERIES_M300 = 2,
     DJI_AIRCRAFT_SERIES_M30 = 3,
     DJI_AIRCRAFT_SERIES_M3 = 4,
+    DJI_AIRCRAFT_SERIES_M350 = 5,
 } E_DjiAircraftSeries;
 
 typedef enum {
@@ -104,6 +105,7 @@ typedef enum {
     DJI_AIRCRAFT_TYPE_M30T = 68, /*!< Aircraft type is Matrice 30T. */
     DJI_AIRCRAFT_TYPE_M3E = 77, /*!< Aircraft type is Mavic 3E. */
     DJI_AIRCRAFT_TYPE_M3T = 79, /*!< Aircraft type is Mavic 3T. */
+    DJI_AIRCRAFT_TYPE_M350_RTK = 89, /*!< Aircraft type is Matrice 350 RTK. */
 } E_DjiAircraftType;
 
 /**

psdk_lib/include/dji_version.h

@@ -34,10 +34,10 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 #define DJI_VERSION_MAJOR     3 /*!< DJI SDK major version num, when have incompatible API changes. Range from 0 to 99. */
-#define DJI_VERSION_MINOR     4 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     5 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
 #define DJI_VERSION_MODIFY    0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
 #define DJI_VERSION_BETA      0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
-#define DJI_VERSION_BUILD     1749 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1764 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

samples/sample_c++/module_sample/camera_manager/test_camera_manager_entry.cpp

@@ -50,6 +50,7 @@ static const char *s_cameraManagerSampleSelectList[] = {
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO]           = "Shoot interval photo                                |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO]                   = "Record video                                        |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE] = "Download and delete media file                      |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_FILE_LIST_BY_SLICES]   = "Download file list by slices                        |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY]                    = "Thermometry test                                    |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO]         = "Get lidar ranging info                              |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM]           = "Set ir camera zoom param                            |",
@@ -120,8 +121,7 @@ void DjiUser_RunCameraManagerSample(void)
         if (posNum > 3 || posNum < 1) {
             USER_LOG_ERROR("Input mount position is invalid");
             continue;
-        }
-        else {
+        } else {
             break;
         }
     }
@@ -140,15 +140,15 @@ void DjiUser_RunCameraManagerSample(void)
             return;
         }
 
-        sampleSelectNum =  atoi(sampleSelectStr.c_str());
+        sampleSelectNum = atoi(sampleSelectStr.c_str());
 
         if (sampleSelectNum < 0 ||
-            sampleSelectNum >= (int)E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX) {
+            sampleSelectNum >= (int) E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX) {
             USER_LOG_ERROR("Input camera sample is invalid");
             continue;
         }
 
-        cameraSample = (E_DjiTestCameraManagerSampleSelect)sampleSelectNum;
+        cameraSample = (E_DjiTestCameraManagerSampleSelect) sampleSelectNum;
 
         cout << "Start test: position " << cameraMountPosition
              << ", sample " << cameraSample << endl;

samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp

@@ -88,6 +88,7 @@ void DjiUser_RunGimbalManagerSample(void)
     if (mountPosition == 'q') {
         return;
     }
+
     if (mountPosition > '3' || mountPosition < '1') {
         USER_LOG_ERROR("Input mount position is invalid");
         goto start;
@@ -126,4 +127,4 @@ void DjiTest_GimbalManagerShowSampleSelectList(const char **SampleList, uint8_t
         std::cout << SampleList[i] << std::endl;
     }
 }
-/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/module_sample/gimbal/test_gimbal_entry.hpp

@@ -48,4 +48,5 @@ void DjiUser_RunGimbalManagerSample(void);
 #endif
 
 #endif // TEST_GIMBAL_ENTRY_H
-/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
+

samples/sample_c++/module_sample/perception/test_perception_entry.cpp

@@ -1,4 +1,4 @@
-/**
+ /**
  ********************************************************************
  * @file    test_perception_entry.cpp
  * @brief
@@ -358,13 +358,6 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
         pack->gotData = false;
         osalHandler->MutexUnlock(pack->mutex);
 
-        /*! Using Opencv display here */
-        if (strstr(nameStr, "_l")) {
-            cv::moveWindow(nameStr, 200, 0);
-        } else {
-            cv::moveWindow(nameStr, (200 + (int) pack->info.rawInfo.width), 0);
-        }
-
         if (i < USER_PERCEPTION_DIRECTION_NUM) {
             /*! Calculate frame rate */
             timeNow[i] = (double) cv::getTickCount();

samples/sample_c++/platform/linux/common/osal/osal.c

@@ -98,6 +98,10 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
 {
     int result;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     *mutex = malloc(sizeof(pthread_mutex_t));
     if (*mutex == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
@@ -118,7 +122,11 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
  */
 T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
 {
-    int result;
+    int result = 0;
+
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
 
     result = pthread_mutex_destroy(mutex);
     if (result != 0) {
@@ -136,8 +144,13 @@ T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
  */
 T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
 {
-    int result = pthread_mutex_lock(mutex);
+    int result = 0;
+
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
 
+    result = pthread_mutex_lock(mutex);
     if (result != 0) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
@@ -152,8 +165,13 @@ T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
  */
 T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
 {
-    int result = pthread_mutex_unlock(mutex);
+    int result = 0;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = pthread_mutex_unlock(mutex);
     if (result != 0) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
@@ -308,6 +326,14 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum)
+{
+    srand(time(NULL));
+    *randomNum = random() % 65535;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 void *Osal_Malloc(uint32_t size)
 {
     return malloc(size);

samples/sample_c++/platform/linux/common/osal/osal.h

@@ -65,6 +65,7 @@ T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
 
 T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
 T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum);
 
 void *Osal_Malloc(uint32_t size);
 void Osal_Free(void *ptr);