Merge pull request #98 in OS/onboard-sdk from OSDK4.0_Advanced_Sensin…

…g to develop

* commit 'e4a7f05948849f7057de89e62721427901bf8eed':
  fix:add log in the stereo vision demo sample
  fix:fix the API name and complete the stereo cam params demo
  fix:fix return value loss in initLinker
  fix:fix encType value issue
  feature: stereo sample for M300
  feat: add advanced sensing demo example

osdk-core/api/src/dji_legacy_linker.cpp

@@ -336,7 +336,7 @@ void LegacyLinker::send(const uint8_t cmd[], void *pdata, size_t len) {
   cmdInfo.needAck = OSDK_COMMAND_NEED_ACK_NO_NEED;
   cmdInfo.packetType = OSDK_COMMAND_PACKET_TYPE_REQUEST;
   cmdInfo.addr = GEN_ADDR(0, ADDR_SDK_COMMAND_INDEX);
-  cmdInfo.encType = vehicle->getEncryption();
+  cmdInfo.encType = (vehicle->getEncryption() == true) ? 1 : 0;
   cmdInfo.channelId = 0;
   vehicle->linker->send(&cmdInfo, (uint8_t *) pdata);
 }
@@ -374,7 +374,7 @@ void LegacyLinker::sendAsync(const uint8_t cmd[], void *pdata, size_t len,
   cmdInfo.needAck = OSDK_COMMAND_NEED_ACK_FINISH_ACK;
   cmdInfo.packetType = OSDK_COMMAND_PACKET_TYPE_REQUEST;
   cmdInfo.addr = GEN_ADDR(0, ADDR_SDK_COMMAND_INDEX);
-  cmdInfo.encType = vehicle->getEncryption();
+  cmdInfo.encType = (vehicle->getEncryption() == true) ? 1 : 0;
   cmdInfo.channelId = 0;
   legacyAdaptingData
       *udata = (legacyAdaptingData *) malloc(sizeof(legacyAdaptingData));
@@ -397,7 +397,7 @@ void* LegacyLinker::sendSync(const uint8_t cmd[], void *pdata,
   cmdInfo.needAck = OSDK_COMMAND_NEED_ACK_FINISH_ACK;
   cmdInfo.packetType = OSDK_COMMAND_PACKET_TYPE_REQUEST;
   cmdInfo.addr = GEN_ADDR(0, ADDR_SDK_COMMAND_INDEX);
-  cmdInfo.encType = vehicle->getEncryption();
+  cmdInfo.encType = (vehicle->getEncryption() == true) ? 1 : 0;
   cmdInfo.channelId = 0;
 
   /*! default ack info value */

osdk-core/utility/src/dji_setup_helpers.cpp

@@ -50,11 +50,15 @@ bool Setup::initLinker() {
   linker = new(std::nothrow) Linker();
   if (linker == 0) {
     DERROR("Failed to allocate memory for Linker!");
+    return false;
   } else {
     if (!linker->init()) {
       DERROR("Failed to initialize Linker!");
+      return false;
     }
   }
+
+  return true;
 }
 
 bool

sample/platform/linux/advanced-sensing/CMakeLists.txt

@@ -51,7 +51,7 @@ FILE(GLOB SOURCE_FILES *.hpp *.cpp
         ${LINKER_HEADER_SRC}
         )
 
-add_subdirectory(stereo_vision_M300_sample)
+add_subdirectory(stereo_vision_demo_sample)
 add_subdirectory(stereo_vision_single_thread_sample)
 add_subdirectory(stereo_vision_multi_thread_sample)
 add_subdirectory(camera_stream_poll_sample)

sample/platform/linux/advanced-sensing/stereo_vision_demo_sample/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8)
+project(stereo-vision-demo-sample)
+
+set(HELPER_FUNCTIONS_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../common)
+add_executable(${PROJECT_NAME}
+  ${SOURCE_FILES}
+  ${HELPER_FUNCTIONS_DIR}/dji_linux_environment.cpp
+  ${HELPER_FUNCTIONS_DIR}/dji_linux_helpers.cpp
+
+  main.cpp
+  )
+
+target_link_libraries(${PROJECT_NAME}
+  djiosdk-core
+  )

sample/platform/linux/advanced-sensing/stereo_vision_demo_sample/main.cpp

@@ -0,0 +1,201 @@
+/*! @file advanced-sensing/main.cpp
+ *  @version 3.4
+ *  @date Sep 15 2017
+ *
+ *  @brief
+ *  Logging API usage in a Linux environment.
+ *  Shows example usage of various advanced sensing APIs and controls.
+ *
+ *  @Copyright (c) 2017 DJI
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+#include "dji_linux_helpers.hpp"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <dirent.h>
+#include "dji_vehicle.hpp"
+
+using namespace DJI::OSDK;
+
+#define IMAGE_FILE_PATH                "./image"
+#define IMAGE_FILE_PATH_LEN            (64)
+#define IMAGE_INFO_LEN                 (sizeof(DUSS_MSG_OSDK_IMAGE_INFO_t))
+#define IMAGE_MAX_DIRECTION_NUM        (6)
+
+int writePictureData(const uint8_t *data, uint32_t len) {
+  DIR *dirp = NULL;
+  FILE *fp = NULL;
+  char fileName[IMAGE_FILE_PATH_LEN] = {0};
+  size_t size = 0;
+  static uint32_t index = 0;
+
+  dirp = opendir(IMAGE_FILE_PATH);
+  if(dirp == NULL && mkdir(IMAGE_FILE_PATH, S_IRWXU | S_IRGRP | S_IROTH | S_IXOTH)) {
+    return -1;
+  }
+  closedir(dirp);
+
+  snprintf(fileName, IMAGE_FILE_PATH_LEN, "%s/%d.raw", IMAGE_FILE_PATH, index);
+
+  fp = fopen(fileName, "w+");
+  if(fp == NULL) {
+    return -1;
+  }
+  size = fwrite(data, 1, len, fp);
+  if(size != len) {
+    return -1;
+  }
+
+  if(fp) {
+    fclose(fp);
+  }
+  index++;
+  return 0;
+}
+
+void PerceptionImageCB(Perception::ImageInfoType info, uint8_t *imageRawBuffer,
+                       int bufferLen, void *userData) {
+  DSTATUS("image info : dataId(%d) seq(%d) timestamp(%d) datatype(%d)", info.dataId, info.sequence,
+          info.timeStamp, info.dataType);
+  DSTATUS("image info : index(%d) h(%d) w(%d) dir(%d) bpp(%d) bufferlen(%d)",
+          info.rawInfo.index, info.rawInfo.height, info.rawInfo.width,
+          info.rawInfo.direction, info.rawInfo.bpp, bufferLen);
+  if (imageRawBuffer) {
+    writePictureData(imageRawBuffer, bufferLen);
+  }
+}
+
+void PerceptionCamParamCB(Perception::CamParamPacketType pack,
+                          void *userData) {
+  DSTATUS("stereo cam parameters : timestamp(%d) dirNum(%d)", pack.timeStamp, pack.directionNum);
+  if ((pack.directionNum > 0) && (pack.directionNum <= IMAGE_MAX_DIRECTION_NUM))
+  for (int i = 0 ; i < pack.directionNum; i++) {
+    DSTATUS("dir[%d] parameters :", pack.cameraParam[i].direction);
+    DSTATUS("\tleftIntrinsics \t= {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
+            pack.cameraParam[i].leftIntrinsics[0],
+            pack.cameraParam[i].leftIntrinsics[1],
+            pack.cameraParam[i].leftIntrinsics[2],
+            pack.cameraParam[i].leftIntrinsics[3],
+            pack.cameraParam[i].leftIntrinsics[4],
+            pack.cameraParam[i].leftIntrinsics[5],
+            pack.cameraParam[i].leftIntrinsics[6],
+            pack.cameraParam[i].leftIntrinsics[7],
+            pack.cameraParam[i].leftIntrinsics[8]);
+    DSTATUS("\trightIntrinsics \t= {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
+            pack.cameraParam[i].rightIntrinsic[0],
+            pack.cameraParam[i].rightIntrinsic[1],
+            pack.cameraParam[i].rightIntrinsic[2],
+            pack.cameraParam[i].rightIntrinsic[3],
+            pack.cameraParam[i].rightIntrinsic[4],
+            pack.cameraParam[i].rightIntrinsic[5],
+            pack.cameraParam[i].rightIntrinsic[6],
+            pack.cameraParam[i].rightIntrinsic[7],
+            pack.cameraParam[i].rightIntrinsic[8]);
+    DSTATUS("\trotaionLeftInRight \t= {%f, %f, %f, %f, %f, %f, %f, %f, %f }",
+            pack.cameraParam[i].rotaionLeftInRight[0],
+            pack.cameraParam[i].rotaionLeftInRight[1],
+            pack.cameraParam[i].rotaionLeftInRight[2],
+            pack.cameraParam[i].rotaionLeftInRight[3],
+            pack.cameraParam[i].rotaionLeftInRight[4],
+            pack.cameraParam[i].rotaionLeftInRight[5],
+            pack.cameraParam[i].rotaionLeftInRight[6],
+            pack.cameraParam[i].rotaionLeftInRight[7],
+            pack.cameraParam[i].rotaionLeftInRight[8]);
+    DSTATUS("\ttranslationLeftInRight \t= {%f, %f, %f }",
+            pack.cameraParam[i].translationLeftInRight[0],
+            pack.cameraParam[i].translationLeftInRight[1],
+            pack.cameraParam[i].translationLeftInRight[2]);
+  }
+}
+
+int
+main(int argc, char** argv)
+{
+
+  LinuxSetup linuxEnvironment(argc, argv);
+  Vehicle *vehicle = linuxEnvironment.getVehicle();
+
+  if (vehicle == NULL) {
+      std::cout << "Vehicle not initialized, exiting. \n";
+      return -1;
+  }
+
+  DSTATUS("This sample only supports the M300. This is the beta version,"
+          "and the APIs wil be optimized in the future.");
+
+  char inputChar;
+
+  while(1) {
+	  // Display interactive prompt
+    std::cout
+      << "| Available commands:                                            |"
+      << std::endl;
+    std::cout
+      << "| [a] Front stereo camera advanced sensing function test         |"
+      << std::endl;
+    std::cout
+      << "| [b] Upward stereo camera advanced sensing function test        |"
+      << std::endl;
+    std::cout
+      << "| [q] quit                                                       |"
+      << std::endl;
+
+    std::cin >> inputChar;
+    switch (inputChar)
+    {
+      case 'a': {
+        DSTATUS("Do stereo camera parameters subscription");
+        vehicle->advancedSensing->setStereoCamParamsObserver(PerceptionCamParamCB, NULL);
+        vehicle->advancedSensing->triggerStereoCamParamsPushing();
+        DSTATUS("Do stereo camera imagines subscription");
+        vehicle->advancedSensing->subscribePerceptionImage(
+            Perception::DirectionType::RECTIFY_FRONT, PerceptionImageCB, NULL);
+        sleep(5);
+        DSTATUS("Do stereo camera imagines unsubscription");
+        vehicle->advancedSensing->unsubscribePerceptionImage(
+            Perception::DirectionType::RECTIFY_FRONT);
+      }
+        break;
+      case 'b': {
+        DSTATUS("Do stereo camera parameters subscription");
+        vehicle->advancedSensing->setStereoCamParamsObserver(PerceptionCamParamCB, NULL);
+        vehicle->advancedSensing->triggerStereoCamParamsPushing();
+        DSTATUS("Do stereo camera imagines subscription");
+        vehicle->advancedSensing->subscribePerceptionImage(
+            Perception::DirectionType::RECTIFY_UP, PerceptionImageCB, NULL);
+        sleep(5);
+        DSTATUS("Do stereo camera imagines unsubscription");
+        vehicle->advancedSensing->unsubscribePerceptionImage(
+            Perception::DirectionType::RECTIFY_UP);
+      }
+        break;
+      case 'q': {
+        return 0;
+      }
+        break;
+      default:
+        break;
+    }
+  }
+
+  return 0;
+}