OSDK 3.6: Improvements to OSDK Core and new demos for camera data

License.txt

@@ -142,17 +142,33 @@ Onboard-SDK
     │   │   │   ├── tracking_utility.cpp
     │   │   │   └── tracking_utility.hpp
     │   │   ├── CMakeLists.txt
+    │   │   ├── stereo_vision_depth_perception_sample
+    │   │   │   ├── utility
+    │   │   │   │   ├── camera_param.cpp
+    │   │   │   │   ├── camera_param.hpp
+    │   │   │   │   ├── config.cpp
+    │   │   │   │   ├── config.hpp
+    │   │   │   │   ├── frame.hpp
+    │   │   │   │   ├── point_cloud_viewer.cpp
+    │   │   │   │   ├── point_cloud_viewer.hpp
+    │   │   │   │   ├── stereo_frame.cpp
+    │   │   │   │   └── stereo_frame.hpp
+    │   │   │   ├── stereo_vision_depth_perception_sample.cpp
+    │   │   │   ├── stereo_vision_depth_perception_sample.hpp
+    │   │   │   ├── CMakeLists.txt
+    │   │   │   ├── stereo_process_container.cpp
+    │   │   │   └── stereo_process_container.hpp
     │   │   ├── stereo_vision_multi_thread_sample
-    │   │   │   ├── advanced_sensing_multi_thread_sample.cpp
-    │   │   │   ├── advanced_sensing_multi_thread_sample.hpp
+    │   │   │   ├── stereo_vision_multi_thread_sample.cpp
+    │   │   │   ├── stereo_vision_multi_thread_sample.hpp
     │   │   │   ├── CMakeLists.txt
     │   │   │   ├── image_process_container.cpp
     │   │   │   ├── image_process_container.hpp
     │   │   │   ├── utility_thread.cpp
     │   │   │   └── utility_thread.hpp
     │   │   └── stereo_vision_single_thread_sample
-    │   │       ├── advanced_sensing_sample.cpp
-    │   │       ├── advanced_sensing_sample.hpp
+    │   │       ├── stereo_vision_single_thread_sample.cpp
+    │   │       ├── stereo_vision_single_thread_sample.hpp
     │   │       └── CMakeLists.txt
     │   ├── camera-gimbal
     │   │   ├── camera_gimbal_sample.cpp

osdk-core/CMakeLists.txt

@@ -132,8 +132,9 @@ if(ADVANCED_SENSING)
   find_package(FFMPEG REQUIRED)
 
   if(FFMPEG_FOUND)
-    message("Found FFMPEG FFMPEG_INCLUDE_DIR = ${FFMPEG_INCLUDE_DIR}")
-    message("Found FFMPEG FFMPEG_LIBRARIES   = ${FFMPEG_LIBRARIES}")
+      message( STATUS "Found FFmpeg ${FFMPEG_VERSION} installed in the system.")
+      message( STATUS " - Includes: ${FFMPEG_INCLUDE_DIRS}")
+      message( STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
   else()
     message("Cannot Find FFMPEG")
   endif(FFMPEG_FOUND)

osdk-core/api/inc/dji_subscription.hpp

@@ -93,9 +93,11 @@ class SubscriptionPackage
                              UserData        userData);
 
   bool isOccupied();
-
   void setOccupied(bool status);
 
+  bool hasLeftOverData();
+  void setLeftOverDataFlag(bool flag);
+
   // Accessors to private variables:
   PackageInfo            getInfo();
   uint32_t*              getUidList(); // explicitly show it's a pointer
@@ -121,6 +123,7 @@ class SubscriptionPackage
 
 private: // Private variables
   bool        occupied;
+  bool        leftOverDataFlag;
   PackageInfo info;
 
   // We have only 30 topics and 5 packages.
@@ -208,9 +211,45 @@ class DataSubscription
    */
   ACK::ErrorCode startPackage(int packageID, int timeout); // blocking call
 
+  /*!
+   * @brief Non-blocking call for start package
+   * @param packageID
+   * @return
+   */
   void removePackage(int packageID);
+
+  /*!
+   * @brief Non-blocking call for start package
+   * @param packageID
+   * @param timeout
+   * @return
+   */
   ACK::ErrorCode removePackage(int packageID, int timeout); // blocking call
 
+  /*!
+   * @brief Remove leftover incoming telemetry data due to unclean quit
+   * @return
+   */
+  void removeLeftOverPackages();
+
+  /*!
+   * @brief Remove all occupied packages
+   * @return
+   */
+  void removeAllExistingPackages();
+
+  /*!
+   * @brief Non-blocking call for resetting all packages.
+   * @return
+   */
+  void reset();
+
+  /*!
+   * @brief Blocking call for resetting all packages.
+   * @param timeout
+   */
+  ACK::ErrorCode reset(int timeout);
+
   /*!
    * @brief Register a callback function after package[packageID] is received
    * @param packageID
@@ -221,8 +260,8 @@ class DataSubscription
     UserData userData = NULL);
 
   // Not implemented yet
-  bool pausePackage(int packageID);
-  bool resumePackage(int packageID);
+  // bool pausePackage(int packageID);
+  // bool resumePackage(int packageID);
   // bool changePackageFrequency(int packageID, uint16_t newFreq);
 
   /*!
@@ -243,6 +282,10 @@ class DataSubscription
                                     RecvContainer rcvContainer,
                                     UserData      pkgHandle);
 
+  static void resetCallback(Vehicle*      vehiclePtr,
+                            RecvContainer rcvContainer,
+                            UserData      pkgHandle);
+
   /*!
    * @brief This callback function is called by recvReqData, case
    * CMD_ID_SUBSCRIBE.

osdk-core/api/inc/dji_vehicle.hpp

@@ -263,6 +263,8 @@ class Vehicle
    * @return NULL
    */
   void processAdvancedSensingImgs(RecvContainer* receivedFrame);
+
+  bool advSensingErrorPrintOnce;
 #endif
 
   //! User sets this to true in order to enable Callback thread with Non
@@ -339,7 +341,7 @@ class Vehicle
   /*! @brief Initialize all functional Vehicle components
 *  like, Subscription, Broadcast, Control, Gimbal, ect
 */
-  void functionalSetUp();
+  int functionalSetUp();
 
 private:
   /*! @brief Initialize minimal Vehicle components
@@ -350,7 +352,12 @@ class Vehicle
    *  @details
    *  @return false if error, true if success
    */
-  bool initPlatformSupport();
+  bool initFullPlatformSupport();
+  /*!
+   * @brief Initialize main read thread to support UART communication
+   * @return fasle if error, true if success
+   */
+  bool initMainReadThread();
   bool initOpenProtocol();
   void initCallbacks();
   void initCMD_SetSupportMatrix();

osdk-core/api/src/dji_ack.cpp

@@ -53,7 +53,7 @@ const std::pair<const uint32_t, const char*> commonData[] = {
                  (const char*)"ACK_SUCCESS\n"),
   std::make_pair(
     OpenProtocolCMD::ErrorCode::CommonACK::START_MOTOR_FAIL_MOTOR_STARTED,
-    (const char*)"START_MOTOR_FAIL_MOTOR_STARTED\n"),
+    (const char*)"START_MOTOR_FAILED_MOTOR_ALREADY_STARTED\n"),
   std::make_pair(
     OpenProtocolCMD::ErrorCode::CommonACK::MOTOR_FAIL_COMPASS_ABNORMAL,
     (const char*)"COMPASS_CALIB_FAIL_DUE_TO_MOTOR_ON\n"),
@@ -651,6 +651,7 @@ ACK::getErrorCodeMessage(ACK::ErrorCode ack, const char* func)
     case OpenProtocolCMD::CMDSet::control:
       // Get message by CMD_ID
       getCMDSetControlMSG(ack);
+      break;
     case OpenProtocolCMD::CMDSet::broadcast:
       getSetBroadcastMSG(ack);
       break;
@@ -672,7 +673,7 @@ ACK::getErrorCodeMessage(ACK::ErrorCode ack, const char* func)
       getCMDSetSubscribeMSG(ack);
       break;
     default:
-      DSTATUS("UNKNOWN_ACK_ERROR_CODE\n");
+      getCommonErrorCodeMessage(ack);
       break;
   }
 }
@@ -776,7 +777,7 @@ ACK::getCMDIDSetControlMSG(uint8_t ack, Version::FirmWare version)
     if (msg->first ==
         OpenProtocolCMD::ErrorCode::ControlACK::SetControl::RC_MODE_ERROR)
     {
-      if (version != Version::M100_31 || version != Version::A3_31)
+      if (version != Version::M100_31 && version != Version::A3_31)
       {
         DSTATUS("RC_NEED_MODE_P\n");
       }

osdk-core/api/src/dji_control.cpp

@@ -367,7 +367,7 @@ Control::positionAndYawCtrl(float32_t x, float32_t y, float32_t z,
                        HORIZONTAL_GROUND | STABLE_ENABLE);
   CtrlData data(ctrl_flag, x, y, z, yaw);
 
-  return this->flightCtrl(data);
+  this->flightCtrl(data);
 }
 
 void
@@ -379,7 +379,7 @@ Control::velocityAndYawRateCtrl(float32_t Vx, float32_t Vy, float32_t Vz,
     (VERTICAL_VELOCITY | HORIZONTAL_VELOCITY | YAW_RATE | HORIZONTAL_GROUND);
   CtrlData data(ctrl_flag, Vx, Vy, Vz, yawRate);
 
-  return this->flightCtrl(data);
+  this->flightCtrl(data);
 }
 
 void
@@ -391,7 +391,7 @@ Control::attitudeAndVertPosCtrl(float32_t roll, float32_t pitch, float32_t yaw,
     (VERTICAL_POSITION | HORIZONTAL_ANGLE | YAW_ANGLE | HORIZONTAL_BODY);
   CtrlData data(ctrl_flag, roll, pitch, z, yaw);
 
-  return this->flightCtrl(data);
+  this->flightCtrl(data);
 }
 
 void
@@ -405,7 +405,7 @@ Control::angularRateAndVertPosCtrl(float32_t rollRate, float32_t pitchRate,
                          YAW_RATE | HORIZONTAL_BODY);
     CtrlData data(ctrl_flag, rollRate, pitchRate, z, yawRate);
 
-    return this->flightCtrl(data);
+    this->flightCtrl(data);
   }
   else
   {
@@ -428,7 +428,7 @@ Control::emergencyBrake()
     //! @note 75 is the flag value of this mode
     AdvancedCtrlData data(72, 0, 0, 0, 0, 0, 0);
 
-    return this->flightCtrl(data);
+    this->flightCtrl(data);
   }
   else
   {

osdk-core/api/src/dji_mission_manager.cpp

@@ -70,7 +70,8 @@ MissionManager::init(DJI_MISSION_TYPE type, int timeout, UserData missionData)
     DERROR("Cannot recognize the mission type provided\n");
     // @todo return a false ack
     ACK::ErrorCode ack;
-    ack.data = false;
+    ack.info.cmd_set = OpenProtocolCMD::CMDSet::mission;
+    ack.data = ErrorCode::MissionACK::Common::INVALID_COMMAND;
     return ack;
   }
 }
@@ -135,7 +136,8 @@ MissionManager::initHotptMission(int timeout, UserData hotptData)
 
   // @todo this initData() does not return ack
   ACK::ErrorCode ack;
-  ack.data = ACK::SUCCESS;
+  ack.info.cmd_set = OpenProtocolCMD::CMDSet::mission;
+  ack.data = ErrorCode::MissionACK::Common::SUCCESS;
 
   return ack;
 }