feat:update config file and lib

Update config file and lib

.gitignore

@@ -54,3 +54,5 @@ osdk-core/advanced-sensing-*
 osdk-core/v1-1.0.0
 osdk-core/mo-protocol-*
 osdk-core/waypointv2-core*
+cmake-build-debug
+.vscode/

osdk-lib/x86/advanced-sensing-2.0.3/inc/dji_perception.hpp

@@ -58,7 +58,6 @@ class Perception {
     OSDK_LIVEVIEW_UNKNOWN = 0xFF,
   } PerceptionErrCode;
 
-
   typedef enum CamPositionType : uint32_t {
     RECTIFY_DOWN_LEFT = 1,
     RECTIFY_DOWN_RIGHT = 2,
@@ -74,7 +73,7 @@ class Perception {
     RECTIFY_RIGHT_RIGHT = 26
   } CamPositionType;
 
-  typedef enum DirectionType {
+  typedef enum DirectionType : uint8_t {
     RECTIFY_DOWN = 0,
     RECTIFY_FRONT = 1,
     RECTIFY_REAR = 2,
@@ -86,7 +85,7 @@ class Perception {
 #pragma pack(1)
   typedef struct RawImageInfoType {
     uint32_t index;
-    uint8_t direction;
+    DirectionType direction;
     uint8_t bpp;
     uint32_t width;
     uint32_t height;
@@ -101,9 +100,9 @@ class Perception {
   } ImageInfoType;
 
   typedef struct CamParamType {
-    int8_t direction;
+    DirectionType direction;
     float leftIntrinsics[9];
-    float rightIntrinsic[9];
+    float rightIntrinsics[9];
     float rotaionLeftInRight[9];
     float translationLeftInRight[3];
   } CamParamType;
@@ -115,18 +114,51 @@ class Perception {
   } CamParamPacketType;
 #pragma pack()
 
+  /*! @bref callback type to receive stereo camera parameters */
   typedef void(*PerceptionCamParamCB)
       (Perception::CamParamPacketType paramPacket, void *userData);
 
+  /*! @bref callback type to receive stereo camera image */
   typedef void(*PerceptionImageCB)
       (Perception::ImageInfoType, uint8_t *imageRawBuffer, int bufferLen, void *userData);
 
+ public:
+
+  /*! @brief subscribe the raw images of both stereo cameras in the same
+   * direction. Default frequency at 20 Hz.
+   *
+   *  @param direction to specifly the direction of the subscription. Ref to
+   * DJI::OSDK::Perception::DirectionType
+   *  @param cb callback to observer the stereo camera image and info.
+   *  @param userData when cb is called, used in cb.
+   *  @return error code. Ref to DJI::OSDK::Perception::PerceptionErrCode
+   */
   PerceptionErrCode subscribePerceptionImage(DirectionType direction, PerceptionImageCB cb, void* userData);
 
+  /*! @brief unsubscribe the raw image of both stereo cameras in the same
+   * direction.
+   *
+   *  @param direction to specifly the direction of the subscription. Ref to
+   * DJI::OSDK::Perception::DirectionType
+   *  @return error code. Ref to DJI::OSDK::Perception::PerceptionErrCode
+   */
   PerceptionErrCode unsubscribePerceptionImage(DirectionType direction);
 
+  /*! @brief trigger stereo cameras parameters pushing once.
+   *
+   *  @param direction to specifly the direction of the subscription. Ref to
+   * DJI::OSDK::Perception::DirectionType
+   *  @return error code. Ref to DJI::OSDK::Perception::PerceptionErrCode
+   */
   PerceptionErrCode triggerStereoCamParamsPushing();
 
+  /*! @brief set callback to get stereo camera parameters after trigger stereo
+   * camera parameters pushing.
+   *
+   *  @param cb callback to observer the parameters of stereo cameras. Ref to
+   * DJI::OSDK:Perception::PerceptionCamParamCB
+   *  @param userData when cb is called, used in cb.
+   */
   void setStereoCamParamsObserver(PerceptionCamParamCB cb, void *userData);
 
  private:

osdk-lib/x86/osdk-core/inc/commondatarangehandler.h

@@ -0,0 +1,44 @@
+//
+//  commondatarangehandler.h
+//  djisdk
+//
+//  Created by husong on 1/14/18.
+//
+//
+
+#ifndef commondatarangehandler_h
+#define commondatarangehandler_h
+#include <vector>
+#include <cstdint>
+
+namespace DJI {
+namespace OSDK {
+struct Range {
+    uint32_t seq_num;
+    uint32_t length;
+};
+
+class CommonDataRangeHandler final {
+public:
+    void DeInit();
+    // seqNum: 收到包seq
+    // confirmSeq: 确认收到最大连续包seq
+    // bufSize: 缓存buf的大小
+    void AddSeqIndex(uint32_t seqNum, uint32_t confirmSeq, uint32_t bufSize);
+
+    bool IsResentAllNeeded();
+
+    std::vector<Range>& GetNoAckRanges();
+
+    uint32_t GetLastNotReceiveSeq();
+
+private:
+    std::vector<Range> m_noAckRanges;
+    uint32_t m_lastNotReceivedSeq = 0;
+    bool m_is_resent_all = false;
+};
+
+}  // namespace OSDK
+
+}  // namespace DJI
+#endif /* commondatarangehandler_h */

osdk-lib/x86/osdk-core/inc/dji_camera_manager.hpp

@@ -31,6 +31,7 @@
 
 #include <vector>
 #include "dji_camera_module.hpp"
+#include "dji_file_mgr.hpp"
 
 namespace DJI {
 namespace OSDK {
@@ -1604,7 +1605,8 @@ class CameraManager {
   ErrorCode::ErrorCodeType obtainDownloadRightSync(PayloadIndexType index,
                                                    bool enable, int timeout);
 
-  ErrorCode::ErrorCodeType startReqFileList(int timeout);
+  ErrorCode::ErrorCodeType startReqFileList(FileMgr::FileListReqCBType cb);
+  ErrorCode::ErrorCodeType startReqFileData(int fileIndex, std::string localPath, FileMgr::FileDataReqCBType cb);
 
  private:
   FileMgr *fileMgr;

osdk-lib/x86/osdk-core/inc/dji_file_mgr.hpp

@@ -0,0 +1,62 @@
+/** @file dji_file_mgr.hpp
+ *  @version 4.0
+ *  @date July 2020
+ *
+ *  @brief Implementation for file manager
+ *
+ *  @Copyright (c) 2020 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.
+ *
+ */
+
+#ifndef DJI_FILE_MGR_HPP
+#define DJI_FILE_MGR_HPP
+
+#include "dji_error.hpp"
+#include "dji_file_mgr_define.hpp"
+
+
+namespace DJI {
+namespace OSDK {
+
+// Forward Declaration
+class Linker;
+class FileMgrImpl;
+
+class FileMgr {
+ public:
+  FileMgr(Linker *linker, uint8_t type, uint8_t index);
+  ~FileMgr();
+
+  typedef void (*FileListReqCBType)(E_OsdkStat ret_code, const FilePackage file_list);
+  typedef void (*FileDataReqCBType)(E_OsdkStat ret_code);
+
+  ErrorCode::ErrorCodeType startReqFileList(FileListReqCBType cb);
+  ErrorCode::ErrorCodeType startReqFileData(int fileIndex, std::string localPath, FileDataReqCBType cb);
+
+ private:
+  FileMgrImpl *impl;
+  uint8_t type;
+  uint8_t index;
+};
+}
+}
+
+#endif  // DJI_FILE_MGR_HPP

osdk-lib/x86/osdk-core/inc/dji_file_mgr_define.hpp

@@ -0,0 +1,306 @@
+//
+// Created by dji on 4/8/20.
+//
+
+#ifndef DJI_FILE_MGR_DEFINE_HPP
+#define DJI_FILE_MGR_DEFINE_HPP
+
+#include <vector>
+
+namespace DJI {
+namespace OSDK {
+
+typedef enum {
+  DJI_CAMERA_TYPE_FC350 = 0, // Inpire 1
+  DJI_CAMERA_TYPE_FC550 = 1, // Inpire 1 pro
+  DJI_CAMERA_TYPE_FC260 = 2, // phantom3C
+  DJI_CAMERA_TYPE_FC300S = 3, // phantom3S
+  DJI_CAMERA_TYPE_FC300X = 4, // phantom3X
+  DJI_CAMERA_TYPE_FC550RAW = 5, // Inpire 1 pro Raw
+  DJI_CAMERA_TYPE_FC330X = 6, // Phantom 4
+  DJI_CAMERA_TYPE_TAU640 = 7, // Flir 640
+  DJI_CAMERA_TYPE_TAU336 = 8, // Flir 336
+  DJI_CAMERA_TYPE_FC220 = 9, // wm220 camera
+  DJI_CAMERA_TYPE_FC300XW = 10, // phantom3 4k
+  DJI_CAMERA_TYPE_CV600 = 11, // cv600 3.5x
+  DJI_CAMERA_TYPE_FC65XXUNKNOWN = 12, // IN2的 SENSOR未检测到
+  DJI_CAMERA_TYPE_FC6310 = 13, // P4PRO IMX183 相机
+  DJI_CAMERA_TYPE_FC6510 = 14, // IN2的 H1   （IMX183, X4
+  DJI_CAMERA_TYPE_FC6520 = 15, // IN2的 H1（IMX269） 目前确定在用, X5S
+  DJI_CAMERA_TYPE_FC6532 = 16, // IN2的全画幅(MN34401)
+  DJI_CAMERA_TYPE_FC6540 = 17, // IN2的S35
+  DJI_CAMERA_TYPE_FC220LOW = 18, // 小飞机低端版本
+  DJI_CAMERA_TYPE_FC1102 = 19, // 小小飞机
+  DJI_CAMERA_TYPE_GD600 = 20, // 30X变焦
+  DJI_CAMERA_TYPE_FC6310A = 21, // P4A IMX183 相机
+  DJI_CAMERA_TYPE_P3SE = 22, // P3C魔改版，P3SE
+  DJI_CAMERA_TYPE_WM230 = 23, // WM230 Mavic Air
+  DJI_CAMERA_TYPE_HG200 = 24, // OSMO MINI 小相机
+  DJI_CAMERA_TYPE_FC2204 = 25, // WM240 IMX477 相机
+  DJI_CAMERA_TYPE_FC1705 = 26, // XT2
+  DJI_CAMERA_TYPE_HG330 = 27, // HG330 相机
+  DJI_CAMERA_TYPE_FC6310S = 28, // P4PRO V2.0（P4P SDR版本）IMX183 相机
+  DJI_CAMERA_TYPE_FC2211 = 29, // WM240 IMX283 相机
+  DJI_CAMERA_TYPE_OCUSYNC = 30, // ZV811
+  DJI_CAMERA_TYPE_P_SDK = 31, // 第三方相机通用相机类型
+  DJI_CAMERA_TYPE_OCUSYNC2 = 32, // OcuSync2型
+  DJI_CAMERA_TYPE_AC101 = 33, // AC101运动相机
+  DJI_CAMERA_TYPE_EC1704 = 34, // EC1704
+  DJI_CAMERA_TYPE_EC1709 = 35, // EC1709
+  DJI_CAMERA_TYPE_BR1609 = 36, // BR1609
+  DJI_CAMERA_TYPE_XW0607_OV5695 = 37, // XW0607（教育机器人） OV5695 相机
+  DJI_CAMERA_TYPE_FC2220 = 38, // WM245 IMX477 相机
+  DJI_CAMERA_TYPE_MATRICE_FPV = 39, // M200系列、VITOL系列FPV相机
+  DJI_CAMERA_TYPE_FC2403 = 40, // WM245 IMX378 相机
+  DJI_CAMERA_TYPE_TP1810 = 41, // 国产红外相机，基于Iray LT模组
+  DJI_CAMERA_TYPE_GD610_DOUBLE_CAM =
+  42, // GD610 双光相机（一路imx378 Wide，一路imx204 Zoom)
+  DJI_CAMERA_TYPE_GD610_TRIPLE_CAM =
+  43, // GD610 三光相机（一路imx378 Wide，一路imx204 Zoom，一路自研红外）
+  DJI_CAMERA_TYPE_FC7103 = 44, // WM160 IMX378 相机
+  DJI_CAMERA_TYPE_WM231 = 45, // WM231 IMX586 相机
+  DJI_CAMERA_TYPE_WM170 = 46, // WM170 IMX577 相机
+  DJI_CAMERA_TYPE_THIRDPARTYSTART = 160, // 比这个大的都认为是第三方相机
+  DJI_CAMERA_TYPE_HASSELH6D_50C = 166, // 哈苏
+  DJI_CAMERA_TYPE_HASSELH6D_100C = 167,
+  DJI_CAMERA_TYPE_UNK = 255, // Inpire 1
+} DJI_CAMERA_TYPE;
+
+enum class FileType {
+  MEDIA = 0, //媒体文件
+  COMMON = 1, //普通文件例如日志
+  SPEAKER_AUDIO = 2, //扬声器音频文件
+  UNKNOWN = 0xFFFF, //Unknown
+};
+
+enum class FileLocation {
+  SD_CARD = 0,
+  INTERNAL_STORAGE = 1,
+  EXTENDED_SD_CARD = 2,
+  UNKNOWN = 0xFFFF, //Unknown
+};
+
+enum class MediaFileType {
+  JPEG = 0,
+  DNG = 1,
+  MOV = 2,
+  MP4 = 3,
+  PANORAMA = 4,
+  TIFF = 5,
+  UL_CTRL_INFO = 6,
+  UL_CTRL_INFO_LZ4 = 7,
+  AUDIO = 10,
+  UNKNOWN = 0xFFFF, //Unknown
+};
+
+struct DateTime {
+  int year; // 年
+  int month; // 月
+  int day; // 日
+  int hour; // 小时
+  int minute; // 分钟
+  int second; // 秒钟
+};
+
+struct CommonFile {
+  int fileIndex; //文件编号
+  MediaFileType fileType; //文件类型
+  std::string fileName; //文件名
+  int64_t fileSize; //文件大小
+  DateTime date; //创建日期
+};
+
+struct FileExifInfo {
+  bool focalLength35mmFormatEnabled;
+  bool lightSourceEnabled;
+  bool meteringModeEnabled;
+  bool exposureCompensationEnabled;
+  bool isoEnabled;
+  bool exposureProgramEnabled;
+  bool fNumberEnabled;
+  bool exposureTimeEnabled;
+  int exposureProgram;
+  int iso;
+  int meteringMode;
+  int lightSource;
+  int focalLength35mmFormat;
+  std::string shutterSpeedText; //exposureTime格式化后的Shutter 1/12.5
+  std::string apertureText; //fnumber格式化后的光圈 1.3
+  std::string exposureCompensationText; //exposureCompensation格式化后的EV +3.5
+};
+
+enum class MediaFileStarTag {
+  NONE = 0,
+  TAGGED = 1,
+  UNKNOWN = 0xFF,
+};
+
+enum class CameraOrientation {
+  DEFAULT = 0,
+  CW90 = 1,
+  CW180 = 2,
+  CW270 = 3,
+  UNKNOWN = 0xFFFF, //Unknown
+};
+
+enum class VideoFrameRate {
+  RATE_15FPS = 0,
+  RATE_24FPS = 1,
+  RATE_25FPS = 2,
+  RATE_30FPS = 3,
+  RATE_48FPS = 4,
+  RATE_50FPS = 5,
+  RATE_60FPS = 6,
+  RATE_120FPS = 7,
+  RATE_240FPS = 8,
+  RATE_480FPS = 9,
+  RATE_100PS = 10,
+  RATE_96FPS = 11,
+  RATE_180FPS = 12,
+  RATE_TRUE24FPS = 13,
+  RATE_TRUE30FPS = 14,
+  RATE_TRUE48FPS = 15,
+  RATE_TRUE60FPS = 16,
+  RATE_90FPS = 17,
+  RATE_192FPS = 18,
+  RATE_200FPS = 19,
+  RATE_400FPS = 20,
+  RATE_8FPS = 21,
+  RATE_20FPS = 22,
+  RATE_8_DOT_8FPS = 23,
+};
+
+enum class VideoResolution {
+  RESOLUTION_640X480P = 0, // 640X480P
+  RESOLUTION_640X480I = 1, // 640X480I
+  RESOLUTION_1280X640P = 2, // 1280X640P
+  RESOLUTION_1280X640I = 3, // 1280X640I
+  RESOLUTION_1280X720P = 4, // 1280X720P
+  RESOLUTION_1280X720I = 5, // 1280X720I
+  RESOLUTION_1280X960P = 6, // 1280X960P
+  RESOLUTION_1280X960I = 7, // 1280X960I
+  RESOLUTION_1920X960P = 8, // 1920X960P
+  RESOLUTION_1920X960I = 9, // 1920X960I
+  RESOLUTION_1920X1080P = 10, // 1920X1080P
+  RESOLUTION_1920X1080I = 11, // 1920X1080I
+  RESOLUTION_1920X1440P = 12, // 1920X1440P
+  RESOLUTION_1920X1440I = 13, // 1920X1440I
+  RESOLUTION_3840X1920P = 14, // 3840X1920P
+  RESOLUTION_3840X1920I = 15, // 3840X1920I
+  RESOLUTION_3840X2160P = 16, // 3840X2160P
+  RESOLUTION_3840X2160I = 17, // 3840X2160I
+  RESOLUTION_3840X2880P = 18, // 3840X2880P
+  RESOLUTION_3840X2280I = 19, // 3840X2280I
+  RESOLUTION_4096X2048P = 20, // 4096X2048P
+  RESOLUTION_4960X2048I = 21, // 4960X2048I
+  RESOLUTION_4096X2160P = 22, // 4096X2160P
+  RESOLUTION_4096X2160I = 23, // 4096X2160I
+  RESOLUTION_2704X1520P_16COLON9 = 24, // 2704X1520P,16:9
+  RESOLUTION_640X512P_FLIR = 26, // 640X512P_FLIR
+  RESOLUTION_4608X2160 = 27, // 4608X2160
+  RESOLUTION_4608X2592 = 28, // 4608X2592
+  RESOLUTION_2720X1530P = 31, // 2720X1530P
+  RESOLUTION_5280X2160P = 32, // 5280X2160P
+  RESOLUTION_5280X2970P = 33, // 5280X2970P
+  RESOLUTION_3840X1572P = 34, // 3840X1572P
+  RESOLUTION_5760X3240P = 35, // 5760X3240P
+  RESOLUTION_6016X3200P = 36, // 6016X3200P
+  RESOLUTION_2048X1080P = 37, // 2048X1080P
+  RESOLUTION_336X256P_FLIR = 38, // 336X256P_FLIR
+  RESOLUTION_5120X2880P = 39, // 5120x2880P
+  RESOLUTION_4096X2160P_RAW14 = 40, // 4096X2160P_RAW14
+  RESOLUTION_3840X2160P_RAW14 = 41, // 3840X2160P_RAW14
+  RESOLUTION_2720X1530P_RAW14 = 42, // 2720X1530P_RAW14
+  RESOLUTION_1920X1080P_RAW14 = 43, // 1920X1080P_RAW14
+  RESOLUTION_5440X2880P = 44, // 5440X2880P
+  RESOLUTION_2688X1512P = 45, // 2688X1512P
+  RESOLUTION_640X360P = 46, // 640X360P
+  RESOLUTION_4000X3000P = 48, // 4000X3000P
+  RESOLUTION_4000X3000I = 49, // 4000X3000I
+  RESOLUTION_2880X1620P = 50, // 2880X1620P
+  RESOLUTION_2880X1620I = 51, // 2880X1620I
+  RESOLUTION_2720X2040P = 52, // 2720X2040P
+  RESOLUTION_2720X2040I = 53, // 2720X2040I
+  RESOLUTION_720X576 = 54, // 720X576
+  RESOLUTION_MAX = 253, // MAX
+  RESOLUTION_UNSET = 254, // UNSET
+  RESOLUTION_KNOWN = 255, // KNOWN
+};
+
+enum class MediaVideoType {
+  NORMAL = 0, // 普通录像
+  SLOW_MOTION = 1, // 慢动作录像
+  HYPER_LAPSE = 2, // Hyperlapse
+  TIME_LAPSE = 3, // 延时视频（拍照合成方式）
+  HDR = 4, // HDR录像
+  LOOP = 5, // 循环录像
+  UNKNOWN = 0xFFFF, //Unknown
+};
+
+enum class MediaPhotoType {
+  NORMAL = 0, //普通
+  HDR = 1, //HDR单拍
+  AEB = 2, //AEB连拍
+  INTERVAL = 3, //定时拍
+  BURST = 4, //定时拍
+  UNKNOWN = 0xFFFF, //Unknown
+};
+
+enum class CameraPanoType {
+  TYPE_360AUTO = 1, // 360 pano
+  TYPE_BALL = 2, // ball pano
+  TYPE_SELF = 3, // self pano
+  TYPE_MANUAL = 4, // manul pano
+  TYPE_CYLINDRICAL = 5, // Cylindrical_180
+  TYPE_VERTICAL = 6, // 竖直拼接
+  TYPE_SECTORIAL = 7, // 3x3广角
+  UNKNOWN = 0xFFFF,
+};
+
+enum class PhotoRatio {
+  RATIO_4COLON3 = 0, // 4:3
+  RATIO_16COLON9 = 1, // 16:9
+  RATIO_3COLON2 = 2, // 3:2
+  RATIO_SQUARE = 3, // 1:1
+  RATIO_18COLON9 = 4, // 18:9
+  UNKNOWN = 0xFFFF, //Unknown
+};
+
+struct MediaFile {
+  bool valid; //文件是否有效
+  //bool isManualGroupFile; // 是否上层(SDK)手动成组文件, 即拉列表拉到几个index不一样但fileGroupIndex一致文件时，上层手动成组最终返回一个isManualGroupFile为true对象
+  int fileIndex; //文件编号
+  MediaFileType fileType; //文件类型
+  std::string fileName; //文件名
+  int64_t fileSize; //文件大小
+  DateTime date; //创建日期
+  //MediaFileStarTag starTag; //星标
+  int64_t duration; //时长
+  CameraOrientation orientation; //朝向
+  VideoFrameRate frameRate; //帧率
+  VideoResolution resolution; //分辨率信息
+  MediaVideoType videoType; //视频类型
+  MediaPhotoType photoType; //拍照类型
+  CameraPanoType panoType; // 全景拍照类型
+  //int videoSpeedRatio; // SlowMotion 及 FastMotion 倍速
+  //int panoCount; // 全景照片张数
+  //int guid; //视频guid
+  //int fileGroupIndex; //文件组
+  //int subIndex; // html占位组文件子index，正常文件默认为0
+  //int segSubIndex; // fat32文件系统中 4g以上文件会做切分
+  //int timeLapseInterval; //TimeLapse视频帧间隔，存储值乘以100ms
+  //FileExifInfo EXIFInfo;
+  PhotoRatio photoRatio;
+  //std::vector<MediaFile> subMediaFile;
+};
+
+struct FilePackage {
+  FileType type;
+  std::vector<MediaFile> media; //媒体文件
+  //std::vector<CommonFile> common; //普通文件
+};
+
+
+}
+}
+#endif //DJI_FILE_MGR_DEFINE_HPP

osdk-lib/x86/osdk-core/inc/dji_file_mgr_impl.hpp

@@ -0,0 +1,153 @@
+/** @file dji_file_mgr_impl.hpp
+ *  @version 4.0
+ *  @date July 2020
+ *
+ *  @brief Implementation for file manager
+ *
+ *  @Copyright (c) 2020 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.
+ *
+ */
+
+#ifndef DJI_FILE_MGR_IMPL_HPP
+#define DJI_FILE_MGR_IMPL_HPP
+
+#include <memory>
+#include <atomic>
+#include "dji_error.hpp"
+#include "osdk_command.h"
+#include "dji_file_mgr_internal_define.hpp"
+#include "commondatarangehandler.h"
+#include "downloadbufferqueue.h"
+#include "dji_file_mgr_define.hpp"
+#include "dji_file_mgr.hpp"
+
+#if 0
+#include "commondatarangehandler.h"
+#include "downloadbufferqueue.h"
+#endif
+
+namespace DJI {
+namespace OSDK {
+
+// Forward Declaration
+class Linker;
+
+class FileMgrImpl {
+ public:
+  FileMgrImpl(Linker *linker, E_OSDKCommandDeiveType type, uint8_t index);
+  ~FileMgrImpl();
+
+  ErrorCode::ErrorCodeType startReqFileList(FileMgr::FileListReqCBType cb);
+  ErrorCode::ErrorCodeType startReqFileData(int fileIndex, std::string localPath, FileMgr::FileDataReqCBType cb);
+  void HandlePushPack(dji_general_transfer_msg_ack *rsp);
+
+  ErrorCode::ErrorCodeType SendAbortPack(DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE taskId);
+  ErrorCode::ErrorCodeType SendACKPack(DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE taskId, dji_download_ack *ack);
+  ErrorCode::ErrorCodeType SendMissedAckPack(DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE taskId);
+
+  typedef enum DownloadStateEnum : int {
+    DOWNLOAD_IDLE,
+    RECVING_FILE_LIST,
+    RECVING_FILE_DATA,
+    MAX_INDEX_CNT,
+  } DownloadStateEnum;
+  std::atomic<int> downloadState;
+  CommonDataRangeHandler *range_handler_;
+  DownloadBufferQueue *download_buffer_;
+
+  Linker *linker;
+  E_OSDKCommandDeiveType type;
+  uint8_t index;
+  FileMgr::FileListReqCBType currentFileListReqCB;
+  FileMgr::FileDataReqCBType currentFileDataReqCB;
+
+ private:
+  //typedef void (*FileDataReqCBType)(E_OsdkStat ret_code, dji_general_transfer_msg_ack* ackData);
+  static void internalFileDataReqCB(E_OsdkStat ret_code, void *userData);
+  typedef struct ConsumeDataBuffer {
+    uint8_t data[1024];
+    uint16_t index;
+  } ConsumeDataBuffer;
+  ConsumeDataBuffer ConsumeChunk(DataPointer data_pointer, size_t &chunk_index, size_t consumSize);
+  FilePackage parseFileList(std::list<DataPointer> fullDataList);
+  bool parseFileData(std::list<DataPointer> fullDataList);
+
+ private:
+  void OnReceiveAbortPack(dji_general_transfer_msg_ack *rsp);
+  void OnReceiveUrgePack(dji_general_transfer_msg_ack *rsp);
+  void OnReceiveDataPack(dji_general_transfer_msg_ack *rsp);
+  uint16_t getNextReqSessionId() {return reqSessionId++;};
+  static std::atomic<uint16_t> reqSessionId;
+  T_OsdkTaskHandle reqFileListHandle;
+  static void downloadMonitorTask(void *arg);
+
+
+  //只是用于测试
+ private:
+  std::string currentLogFilePath;
+
+  FILE *fp = NULL;
+  uint64_t tempSize = 0;
+
+  bool confirmFilePath() {
+    fp = fopen(this->currentLogFilePath.c_str(), "w+");
+    if (fp) {
+      fclose(fp);
+      return true;
+    } else {
+      return false;
+    }
+  }
+  void prepareFile() {
+    printf("Preparing File : %s\n", this->currentLogFilePath.c_str());
+    fp = fopen(this->currentLogFilePath.c_str(), "a+");
+    printf("Prepare File ret : %p\n", fp);
+  }
+
+  int writeStreamData(const uint8_t *data, uint32_t len) {
+
+    size_t size = 0;
+
+    if (fp == NULL) {
+      printf("fopen failed!\n");
+      return -1;
+    }
+    size = fwrite(data, 1, len, fp);
+    if (size != len) {
+      return -1;
+    }
+    return 0;
+  }
+
+  void closeFile() {
+    printf("Close File : %s\n", this->currentLogFilePath.c_str());
+    fflush(fp);
+    if (fp) {
+      fclose(fp);
+    }
+  }
+
+
+};
+}
+}
+
+#endif  // DJI_FILE_MGR_IMPL_HPP

osdk-lib/x86/osdk-core/inc/dji_file_mgr_internal_define.hpp

@@ -0,0 +1,831 @@
+/** @file dji_file_mgr_internal_define.hpp
+ *  @version 4.0
+ *  @date July 2020
+ *
+ *  @brief Data struct defination for file manager
+ *
+ *  @Copyright (c) 2020 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.
+ *
+ */
+
+#ifndef _DJI_FILE_INTERNAL_DEFINE_HPP_
+#define _DJI_FILE_INTERNAL_DEFINE_HPP_
+
+#include <stdint.h>
+
+// 下载文件失败返回值
+typedef enum
+{
+  DJI_DOWNLOAD_FILE_ABORT_ERROR = 1, // 下载错误
+  DJI_DOWNLOAD_FILE_ABORT_FORCE = 2, // 强制退出
+  DJI_DOWNLOAD_FILE_ABORT_ERROR_FLASH = 3, // FLASH 介质问题导致读取文件错误
+  DJI_DOWNLOAD_FILE_ABORT_SESSION_REALLOC = 4, // Session 重复
+  DJI_DOWNLOAD_FILE_ABORT_SESSION_BUSY = 5, // Seesion 资源分配错误
+  DJI_DOWNLOAD_FILE_ABORT_ERROR_OTHER = 4294967295, // 未知错误
+} DJI_DOWNLOAD_FILE_ABORT_ERROR_CODE;
+
+typedef enum : uint32_t {
+  TransAbortReasonError = 0,
+  TransAbortReasonForce,
+  TransAbortReasonSizeError,
+  TransAbortReasonReadFailed,
+} TransAbortReason;
+
+typedef enum : uint8_t {
+  DJI_CAMERA_VIDEO_FRAME_RATE_15FPS = 0, // 14.985
+  DJI_CAMERA_VIDEO_FRAME_RATE_24FPS = 1, // 23.976
+  DJI_CAMERA_VIDEO_FRAME_RATE_25FPS = 2, // 25.000
+  DJI_CAMERA_VIDEO_FRAME_RATE_30FPS = 3, // 29.970
+  DJI_CAMERA_VIDEO_FRAME_RATE_48FPS = 4, // 47.952
+  DJI_CAMERA_VIDEO_FRAME_RATE_50FPS = 5, // 50FPS
+  DJI_CAMERA_VIDEO_FRAME_RATE_60FPS = 6, // 59.940
+  DJI_CAMERA_VIDEO_FRAME_RATE_120FPS = 7, // 119.880
+  DJI_CAMERA_VIDEO_FRAME_RATE_240FPS = 8, // 239.760
+  DJI_CAMERA_VIDEO_FRAME_RATE_480FPS = 9, // 479.520
+  DJI_CAMERA_VIDEO_FRAME_RATE_100PS = 10, // 100PS
+  DJI_CAMERA_VIDEO_FRAME_RATE_96FPS = 11, // 95.904
+  DJI_CAMERA_VIDEO_FRAME_RATE_180FPS = 12, // 179.820
+  DJI_CAMERA_VIDEO_FRAME_RATE_TRUE24FPS = 13, // 24
+  DJI_CAMERA_VIDEO_FRAME_RATE_TRUE30FPS = 14, // 30
+  DJI_CAMERA_VIDEO_FRAME_RATE_TRUE48FPS = 15, // 48
+  DJI_CAMERA_VIDEO_FRAME_RATE_TRUE60FPS = 16, // 60
+  DJI_CAMERA_VIDEO_FRAME_RATE_90FPS = 17, // 89.910
+  DJI_CAMERA_VIDEO_FRAME_RATE_192FPS = 18, // 191.808
+  DJI_CAMERA_VIDEO_FRAME_RATE_200FPS = 19, // 200FPS
+  DJI_CAMERA_VIDEO_FRAME_RATE_400FPS = 20, // 400FPS
+  DJI_CAMERA_VIDEO_FRAME_RATE_8FPS = 21, // 7.5fps(for flir camera)
+  DJI_CAMERA_VIDEO_FRAME_RATE_20FPS = 22, // 20
+  DJI_CAMERA_VIDEO_FRAME_RATE_8_DOT_8FPS = 23, // 8.8fps
+} DJI_CAMERA_VIDEO_FRAME_RATE;
+
+// 多媒体素材（照片，视频）旋转方向(顺时针旋转)
+typedef enum : uint8_t {
+  DJI_ROTATE_0 = 0, // 旋转角度0°
+  DJI_ROTATE_90 = 1, // 旋转角度90°
+  DJI_ROTATE_180 = 2, // 旋转角度180°
+  DJI_ROTATE_270 = 3, // 旋转角度270°
+} DJI_MULTIMEDIA_ROTATE;
+
+typedef enum : uint8_t {
+  DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE_REQ = 0, // 请求
+  DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE_DATA = 1, // 数据
+  DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE_ACK = 2, // 应答
+  DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE_PUSH = 3, // 催促
+  DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE_ABORT = 4, // 退出
+  DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE_DEL = 5, // 删除
+  DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE_PAUSE = 6, // 暂停
+  DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE_RESUME = 7, // 继续
+} DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE;
+
+typedef enum : uint8_t {
+  DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE_LIST = 0, // 文件列表
+  DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE_FILE = 1, // 文件
+  DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE_STREAM = 2, // 流
+  DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE_MULTI_STREAM =
+  3, // 多类型流，可以是H264、H265、MJPEG等。该类型相比于GENERAL_DOWNLOAD_FILE_TASK_TYPE_STREAM，响应数据段增加了头部信息
+} DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE;
+
+typedef enum : uint8_t {
+  DJI_CAMERA_VIDEO_RESOLUTION_640X480P = 0, // 640X480P
+  DJI_CAMERA_VIDEO_RESOLUTION_640X480I = 1, // 640X480I
+  DJI_CAMERA_VIDEO_RESOLUTION_1280X640P = 2, // 1280X640P
+  DJI_CAMERA_VIDEO_RESOLUTION_1280X640I = 3, // 1280X640I
+  DJI_CAMERA_VIDEO_RESOLUTION_1280X720P = 4, // 1280X720P
+  DJI_CAMERA_VIDEO_RESOLUTION_1280X720I = 5, // 1280X720I
+  DJI_CAMERA_VIDEO_RESOLUTION_1280X960P = 6, // 1280X960P
+  DJI_CAMERA_VIDEO_RESOLUTION_1280X960I = 7, // 1280X960I
+  DJI_CAMERA_VIDEO_RESOLUTION_1920X960P = 8, // 1920X960P
+  DJI_CAMERA_VIDEO_RESOLUTION_1920X960I = 9, // 1920X960I
+  DJI_CAMERA_VIDEO_RESOLUTION_1920X1080P = 10, // 1920X1080P
+  DJI_CAMERA_VIDEO_RESOLUTION_1920X1080I = 11, // 1920X1080I
+  DJI_CAMERA_VIDEO_RESOLUTION_1920X1440P = 12, // 1920X1440P
+  DJI_CAMERA_VIDEO_RESOLUTION_1920X1440I = 13, // 1920X1440I
+  DJI_CAMERA_VIDEO_RESOLUTION_3840X1920P = 14, // 3840X1920P
+  DJI_CAMERA_VIDEO_RESOLUTION_3840X1920I = 15, // 3840X1920I
+  DJI_CAMERA_VIDEO_RESOLUTION_3840X2160P = 16, // 3840X2160P
+  DJI_CAMERA_VIDEO_RESOLUTION_3840X2160I = 17, // 3840X2160I
+  DJI_CAMERA_VIDEO_RESOLUTION_3840X2880P = 18, // 3840X2880P
+  DJI_CAMERA_VIDEO_RESOLUTION_3840X2280I = 19, // 3840X2280I
+  DJI_CAMERA_VIDEO_RESOLUTION_4096X2048P = 20, // 4096X2048P
+  DJI_CAMERA_VIDEO_RESOLUTION_4960X2048I = 21, // 4960X2048I
+  DJI_CAMERA_VIDEO_RESOLUTION_4096X2160P = 22, // 4096X2160P
+  DJI_CAMERA_VIDEO_RESOLUTION_4096X2160I = 23, // 4096X2160I
+  DJI_CAMERA_VIDEO_RESOLUTION_2704X1520P_16COLON9 = 24, // 2704X1520P,16:9
+  DJI_CAMERA_VIDEO_RESOLUTION_640X512P_FLIR = 26, // 640X512P_FLIR
+  DJI_CAMERA_VIDEO_RESOLUTION_4608X2160 = 27, // 4608X2160
+  DJI_CAMERA_VIDEO_RESOLUTION_4608X2592 = 28, // 4608X2592
+  DJI_CAMERA_VIDEO_RESOLUTION_2720X1530P = 31, // 2720X1530P
+  DJI_CAMERA_VIDEO_RESOLUTION_5280X2160P = 32, // 5280X2160P
+  DJI_CAMERA_VIDEO_RESOLUTION_5280X2970P = 33, // 5280X2970P
+  DJI_CAMERA_VIDEO_RESOLUTION_3840X1572P = 34, // 3840X1572P
+  DJI_CAMERA_VIDEO_RESOLUTION_5760X3240P = 35, // 5760X3240P
+  DJI_CAMERA_VIDEO_RESOLUTION_6016X3200P = 36, // 6016X3200P
+  DJI_CAMERA_VIDEO_RESOLUTION_2048X1080P = 37, // 2048X1080P
+  DJI_CAMERA_VIDEO_RESOLUTION_336X256P_FLIR = 38, // 336X256P_FLIR
+  DJI_CAMERA_VIDEO_RESOLUTION_5120X2880P = 39, // 5120x2880P
+  DJI_CAMERA_VIDEO_RESOLUTION_4096X2160P_RAW14 = 40, // 4096X2160P_RAW14
+  DJI_CAMERA_VIDEO_RESOLUTION_3840X2160P_RAW14 = 41, // 3840X2160P_RAW14
+  DJI_CAMERA_VIDEO_RESOLUTION_2720X1530P_RAW14 = 42, // 2720X1530P_RAW14
+  DJI_CAMERA_VIDEO_RESOLUTION_1920X1080P_RAW14 = 43, // 1920X1080P_RAW14
+  DJI_CAMERA_VIDEO_RESOLUTION_5440X2880P = 44, // 5440X2880P
+  DJI_CAMERA_VIDEO_RESOLUTION_2688X1512P = 45, // 2688X1512P
+  DJI_CAMERA_VIDEO_RESOLUTION_640X360P = 46, // 640X360P
+  DJI_CAMERA_VIDEO_RESOLUTION_4000X3000P = 48, // 4000X3000P
+  DJI_CAMERA_VIDEO_RESOLUTION_4000X3000I = 49, // 4000X3000I
+  DJI_CAMERA_VIDEO_RESOLUTION_2880X1620P = 50, // 2880X1620P
+  DJI_CAMERA_VIDEO_RESOLUTION_2880X1620I = 51, // 2880X1620I
+  DJI_CAMERA_VIDEO_RESOLUTION_2720X2040P = 52, // 2720X2040P
+  DJI_CAMERA_VIDEO_RESOLUTION_2720X2040I = 53, // 2720X2040I
+  DJI_CAMERA_VIDEO_RESOLUTION_720X576 = 54, // 720X576
+  DJI_CAMERA_VIDEO_RESOLUTION_MAX = 253, // MAX
+  DJI_CAMERA_VIDEO_RESOLUTION_UNSET = 254, // UNSET
+  DJI_CAMERA_VIDEO_RESOLUTION_KNOWN = 255, // KNOWN
+} DJI_CAMERA_VIDEO_RESOLUTION;
+
+typedef enum : uint8_t {
+  DJI_CAMERA_FILE_TYPE_JPEG = 0,
+  DJI_CAMERA_FILE_TYPE_DNG = 1,
+  DJI_CAMERA_FILE_TYPE_MOV = 2,
+  DJI_CAMERA_FILE_TYPE_MP4 = 3,
+  DJI_CAMERA_FILE_TYPE_PANORAMA = 4,
+  DJI_CAMERA_FILE_TYPE_TIFF = 5,
+  DJI_CAMERA_FILE_TYPE_SEQ = 8, // (for XT2 Camera use)
+  DJI_CAMERA_FILE_TYPE_TIFFSEQ = 9, // (for XT2 Camera use)
+  DJI_CAMERA_FILE_TYPE_AUDIO = 10, // for WM245 accessory
+  DJI_CAMERA_FILE_TYPE_SURVEY = 12,
+  DJI_CAMERA_FILE_TYPE_USER_CTRL_INFO = 13, // 用户操作信息的原始文件类型
+  DJI_CAMERA_FILE_TYPE_USER_CTRL_INFO_LZ4 = 14, // 用户操作信息使用LZ4压缩后类型
+  DJI_CAMERA_FILE_TYPE_JSON = 15, // JSON文件
+  DJI_CAMERA_FILE_TYPE_PHOTO_FOLDER = 16, // 照片文件夹
+  DJI_CAMERA_FILE_TYPE_VIDEO_FOLDER = 17, // 视频文件夹
+} DJI_CAMERA_FILE_TYPE;
+
+// 视频传输数据流格式，app告诉camera想要什么格式的视频流。
+typedef enum : uint8_t {
+  DJI_TRANS_VIDEO_STREAM_ORG = 0, // 原片码流格式
+  DJI_TRANS_VIDEO_STREAM_H264 = 1, // h264
+  DJI_TRANS_VIDEO_STREAM_H265 = 2, // h265
+  DJI_TRANS_VIDEO_STREAM_MJPEG = 3, // motion jpeg
+} DJI_TRANS_VIDEO_STREAM_FORMAT;
+
+// 请求下载的文件子类型
+typedef enum : uint8_t {
+  DJI_DOWNLOAD_FILE_ORG = 0, // 原文件
+  DJI_DOWNLOAD_FILE_THM = 1, // 缩略图
+  DJI_DOWNLOAD_FILE_SCR = 2, // 截屏图
+  DJI_DOWNLOAD_FILE_CLIP = 3, // 视频剪辑
+  DJI_DOWNLOAD_FILE_STREAM = 4, // 流传输
+  DJI_DOWNLOAD_FILE_PANO = 5, // 全景照片
+  DJI_DOWNLOAD_FILE_PANO_SCR = 6, // 全景照片截屏图
+  DJI_DOWNLOAD_FILE_PANO_THM = 7, // 全景照片缩略图
+  DJI_DOWNLOAD_FILE_TIMELAPES = 8, // Timelapse照片
+  DJI_DOWNLOAD_FILE_2ND_STREAM = 9, // 第二路码流文件
+  DJI_DOWNLOAD_FILE_RESERVED = 10, // 预留
+  DJI_DOWNLOAD_FILE_PHOTO_METADATA = 11, // 照片元数据
+  DJI_DOWNLOAD_FILE_USER_CTRL_INFO = 12, // 用户操作信息数据
+  DJI_DOWNLOAD_FILE_JSON = 13, // JSON文件
+} DJI_DOWNLOAD_FILE_SUBTYPE;
+
+// 文件列表扩展数据信息类型
+typedef enum : uint8_t {
+  DJI_EXT_TYPE_UUID = 1, // 视频UUID
+  DJI_EXT_TYPE_P_TID = 2, // 照片类型和ID
+  DJI_EXT_TYPE_STAR = 3, // 星标
+  DJI_EXT_TYPE_V_TID = 4, // 视频类型信息
+  DJI_EXT_TYPE_FUSION = 5, // 合成照片Group信息
+  DJI_EXT_TYPE_V_FILE_SYNC = 6, // 文件信息同步
+  DJI_EXT_TYPE_ORIGIN = 7, // 原片信息
+  DJI_EXT_TYPE_EXIF = 8, // EXIF信息
+  DJI_EXT_TYPE_AUDIO = 9, // 音频信息
+  DJI_EXT_TYPE_VIDEO_MISCINFO = 10, // 视频附加类型信息
+  DJI_EXT_TYPE_CUSTOMIZE_DCF_INFO = 11, // 自定义DCF照片信息
+  DJI_EXT_TYPE_FILE_NAME = 13, // 文件名信息
+  DJI_EXT_TYPE_FILE_MD5 = 14, // 文件MD5值
+} DJI_FILE_LIST_EXT_TYPE;
+
+typedef enum : uint8_t {
+  DJI_all = 0, // 喜欢不喜欢全都要
+  DJI_like = 1, // 喜欢
+  DJI_dislike = 2, // 不喜欢
+  DJI_unknown = 255, // 未知
+} DJI_FILE_LIST_FILTER_LIKE;
+
+typedef enum : uint8_t {
+  DJI_MEDIA = 0, // 媒体文件
+  DJI_THUMBNAIL = 1, // 缩略图
+  DJI_SCREENNAIL = 2, // 截屏图
+  DJI_VIDEO_CLIP = 3, // 视频剪辑
+  DJI_LOG = 12, // 固件日志文件
+  DJI_MEDIA_GROUP = 13, // 相机自动成组的媒体文件
+  // 逻辑：
+  // 成组逻辑包括 AEB、Burst、Interval、视频大于 4G 自动分段、Pano
+  // 1. 相机根据 Index 和 ReqCount 推送相应数量的素材信息，遇到 Group 照片、分段视频等，则只推送组内第一个文件信息
+  // 2. AEB、Burst 的张数显示在 0x27 的 dji_ext_fusion 的字段 amount，最大 9999 张
+  // 3. 分段视频相机自动计算所有分段合并后的总时长填充到视频 attribute_video_duration 字段
+      DJI_PSDK_WIDGET =
+      14, // PSDK 自定义控件配置，包括配置文件和图标文件，存储在第三方负载中。DJI Pilot 拉取配置文件和图标文件后可以显示控件，用于显示第三方负载状态数据并控制第三方负载。
+} DJI_DOWNLOAD_FILE_LIST_TYPE;
+
+typedef enum : uint8_t {
+  MAJOR_CAMERA = 0,
+  MAJOR_RADAR = 1,
+  MAJOR_PSDK = 2,
+} MAJOR_TYPE;
+
+typedef enum : uint8_t {
+  MINOR_CAMERA = 0,
+  MINOR_PSDK = 2,
+} MINOR_TYPE;
+
+#pragma pack(1)
+
+/*! (0x00,0x26) 相关结构体定义*/
+// 文件下载请求，由 App 向相机发出的文件下载请求。
+typedef struct {
+  // 报文头长度
+  uint8_t header_length:6;
+  // 传输协议版本号
+  uint8_t version      :2;
+  // 传输协议类型
+  uint8_t func_id:5;    // enum-type: DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE
+  // 子业务ID
+  uint8_t task_id:3;    // enum-type: DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE
+  // 报文总长度
+  uint16_t msg_length:12;
+  // 标志，最低位为1代表是最后一个包
+  uint16_t msg_flag  :4;
+  // 回话ID
+  uint16_t session_id;
+  // 报文在业务中的编号
+  uint32_t seq;
+  // 消息数据
+  // dji_file_list_download_req : 文件列表下载请求
+  // dji_file_download_req : 文件下载请求
+  // dji_stream_download_req : 流下载请求
+  // dji_download_ack : 下载应答
+  uint8_t data[1];
+} dji_general_transfer_msg_req;
+
+// 文件列表过滤器  - 视频
+// 各素材类型比特位如果为 **1** 表示需要过滤出该类型素材，为 **0** 则不过滤出来
+typedef struct {
+  // 普通录像
+  uint32_t video_nomal     :1;
+  // 慢动作录像
+  uint32_t video_slowmotion:1;
+  // 延时视频（拍照合成方式）
+  uint32_t video_timelapse :1;
+  // Hyperlapse
+  uint32_t video_hyperlapse:1;
+  // HDR录像
+  uint32_t video_hdr       :1;
+  // 循环录像
+  uint32_t video_loop      :1;
+  // 保留位
+  uint32_t reserved        :26;
+} dji_file_list_filter_video;
+
+// 文件列表过滤器  - 照片
+// 各素材类型比特位如果为 **1** 表示需要过滤出该类型素材，为 **0** 则不过滤出来
+typedef struct {
+  // 普通照片
+  uint32_t photo_normal  :1;
+  // HDR 照片
+  uint32_t photo_hdr     :1;
+  // AEB 照片
+  uint32_t photo_aeb     :1;
+  // 定时拍
+  uint32_t photo_interval:1;
+  // Burst 照片
+  uint32_t photo_burst   :1;
+  // 全景照片
+  uint32_t photo_pano    :1;
+  // 保留位
+  uint32_t reserved      :26;
+} dji_file_list_filter_photo;
+
+// **文件列表下载过滤器**
+// <br/>
+// 过滤器组合规则：
+// 1. **like** 过滤器作用于后续所有过滤器的结果，进行**逻辑与**运算；
+// 2. **video**、**photo** 等 过滤器内部通过**逻辑或**运算取值，各过滤器结果取并集
+// ```
+// like && ((video) U (photo))
+// 如：
+// like = 1
+// video = 1
+// photo = 3
+// 即表示过滤：所有(普通录像、普通照片、HDR 照片)中 被 like 的文件。
+// ```
+typedef struct {
+  // 媒体文件是否被喜欢加星
+  uint8_t like;    // enum-type: DJI_FILE_LIST_FILTER_LIKE
+  // 视频素材过滤器，按位或取值
+  dji_file_list_filter_video video;
+  // 照片素材过滤器，按位或取值
+  dji_file_list_filter_photo photo;
+} dji_download_file_list_filter;
+
+// 文件index  定义
+typedef struct {
+  // 文件index 信息
+  uint32_t index:30;
+  // 逻辑分区信息， 表示逻辑分区0 - 逻辑分区3
+  uint32_t drive:2;
+} dji_file_index_t;
+
+// 文件列表下载请求
+typedef struct {
+  // 起始文件Index（UINT32，LSB在前，MSB在后）。
+  // 注：=1表示从第一个文件开始
+  dji_file_index_t index;
+  // 文件个数（UINT16，LSB在前，MSB在后）
+  // 注：=0xFFFF表示传之后所有的列表信息
+  uint16_t count;
+  // 请求下载信息的文件子类型
+  uint8_t type;    // enum-type: DJI_DOWNLOAD_FILE_LIST_TYPE
+  // **type == DJI_MEDIA_GROUP 时生效**
+  // <br/><br/>
+  // filter_enable 为 `0` 时，表示不启用过滤器，从所有素材中进行文件列表拉取。<br/>
+  // filter_enable 为 `1` 时，表示启用过滤器，根据 filters 过滤规则进行文件过滤。
+  uint8_t filter_enable;
+  // **文件列表筛选过滤器**
+  // <br/>
+  // filter_enable 为 `1` 时生效
+  // download_file_list_filter
+  dji_download_file_list_filter filters;
+} dji_file_list_download_req;
+
+// 消息数据 – 文件下载请求（由App向相机发出的文件下载请求）
+typedef struct {
+  // 起始文件Index（UINT32，LSB在前，MSB在后）。
+  dji_file_index_t index;
+  // 请求下载的文件个数（UINT16，LSB在前，MSB在后）。
+  // 注：
+  // 当为0xffff时为传之后所有的文件
+  // 当前只支持1
+  uint16_t count;
+  // 请求下载的文件子类型
+  uint8_t type;    // enum-type: DJI_DOWNLOAD_FILE_SUBTYPE
+  // 请求下载的文件子索引
+  // 当此字段为0xFF时，使用扩展文件子索引字段
+  uint8_t sub_index;
+  // 请求下载的文件数据偏移（UINT32，LSB在前，MSB在后）。
+  uint32_t offset;
+  // 请求下载的文件数据大小（UINT32，LSB在前，MSB在后）
+  uint32_t size;
+  // 扩展文件子索引
+  uint32_t ext_sub_index;
+  // 扩展分段文件子索引
+  uint16_t seg_sub_index;
+} dji_file_download_req;
+
+// 流数据传输
+typedef struct {
+  // 流文件Index
+  dji_file_index_t index;
+  // 请求传输的流起始时间，单位ms
+  uint32_t offset;
+  union {
+    // 请求传输的流时长，单位ms， -1表示传输至本文件流结束，-2表示跨文件一直传输直到后续的所有文件流结束
+    int32_t duration;
+    // 请求传输的文件个数， -1表示传输之后的所有文件，目前只有video_type=DJI_TRANS_VIDEO_STREAM_MJPEG时使用
+    int32_t count;
+  };
+  // 请求传输的流子类型：视频码流格式
+  uint8_t video_type:4;    // enum-type: DJI_TRANS_VIDEO_STREAM_FORMAT
+  // 请求传输的流子类型：音频开关及码流格式。0表示不需要音频，1表示原片码流格式的音频
+  uint8_t audio_type:4;
+  // 请求传输的流子索引（用于扩展）
+  uint8_t subindex;
+  // 播放速率控制。
+  // [7] – 加速/减速标志
+  // [6:0] – 变速倍数
+  uint8_t speed_ctrl;
+  // 视频分辨率
+  uint8_t resolution;    // enum-type: DJI_CAMERA_VIDEO_RESOLUTION
+  // 视频码率
+  uint16_t bitrate;
+} dji_stream_download_req;
+
+// 丢失分片描述
+typedef struct {
+  // 起始分片序号
+  uint32_t seq;
+  // 分片个数
+  uint32_t cnt;
+} dji_loss_desc;
+
+// 文件下载应答消息
+typedef struct {
+  // 期望收到的分片序号，表示已收到expect_seq之前的所有分片。
+  uint32_t expect_seq;
+  // 丢包信息个数
+  uint8_t loss_nr;
+  // 丢包信息
+  dji_loss_desc loss_desc[1];
+} dji_download_ack;
+
+typedef struct {
+  // Return code
+  uint8_t ret_code;
+} dji_general_transfer_msg_rsp;
+/////////////(0x00,0x26) 相关结构体定义////////////
+
+/*! (0x00,0x27) 相关结构体定义*/
+
+// 文件列表扩展数据——照片类型和ID
+typedef struct {
+// 照片类型
+  uint8_t type;    // enum-type: DJI_EXT_P_TID_TYPE
+// 照片ID，同一组照片使用相同的照片ID，普通单拍的情况下设置成0
+  uint16_t id;
+} dji_ext_p_tid;
+
+// 文件列表扩展数据——视频UUID
+typedef struct {
+// 视频UUID
+  uint32_t uuid;
+} dji_ext_video_uuid;
+
+// 文件列表扩展数据——星标
+typedef struct {
+// 星标数值
+  uint8_t star;
+} dji_ext_star;
+
+// 文件列表扩展数据内容——视频类型信息
+typedef struct {
+// 视频类型
+  uint8_t type;    // enum-type: DJI_EXT_V_TID_TYPE
+// 视频子类型
+// 当视频类型 = 变速视频时：
+// 0 = 慢速视频
+// 1 = 快速视频
+// 其他 = 保留
+// 当视频类型 = 一键短片时：
+// 0 = 保留
+// 1 = 环绕
+// 2 = 斜飞
+// 3 = 螺旋
+// 4 = 火箭
+// 其他 = 保留
+// 当视频类型 = hyperlapse视频时：
+// 0 = hyperlapse with  interval
+// 1 = hyperlapse with speed ratio
+// 其他 = 保留
+  uint8_t subtype;
+// 编码格式
+// 0 = H.264
+// 1 = H.265
+// 其他 = 保留
+  uint8_t encode_format;
+// 变速视频播放倍速（仅对变速视频有效）
+// 对于慢速视频：
+// 0 = default
+// 1 = 1倍速
+// 2 = 1/2倍速
+// N = 1/N倍速
+// 对于快速视频：
+// 0 = default
+// 1 = 1倍速
+// 2 = 2倍速
+// N = N倍速
+  uint8_t speed;
+// 保留
+  uint8_t reserved;
+} dji_ext_v_tid;
+
+// 文件列表扩展数据内容—合成照片Group信息，用于相机端使用子文件夹方式存放原照片的情况
+typedef struct {
+// 照片子类型
+// 对于全景照片：
+// 0 = 保留
+// 1 = 360 Panorama
+// 2 = Ball Panorama
+// 3 = Vertical Panorama
+// 4 = 180 Panorama(云台横拍状态)
+// 5 = Wide Panorama(云台横拍状态)
+// 6 = 180 Panorama(云台竖拍状态)
+// 7 = Wide Panorama(云台竖拍状态)
+// 其他 = 保留
+// 对于OSMO（X3X5系列）对于全景照片：
+// 0 = 保留
+// 1 = 360 Panorama
+// 2 = Ball Panorama
+// 3 = Self Panorama
+// 4 = Manual Panorama
+// 5 =180 Panorama
+// 6 = Vertical Panorama
+// 7 = Sectorial Panorama
+// 其他 = 保留
+  uint8_t subtype;
+// 原片张数(0~9999)
+  uint16_t amount:14;
+// 机内合成结果，APP合成忽略此字段
+// 0 = 保留
+// 1 = 成功
+// 2 = 失败
+// 3 = 中止
+  uint16_t result:2;
+} dji_ext_fusion;
+
+// 文件列表扩展数据——文件同步，用于合成的全景图从APP反向下载到相机的同步指示
+typedef struct {
+// 1 - 已同步
+// 其他 - 保留
+  uint8_t sync;
+} dji_ext_file_sync;
+
+// 文件列表扩展数据——原片信息
+typedef struct {
+// 是否有原片
+// 0 -- 不存在
+// 1 -- 存在
+  uint8_t exist_flag:2;
+// 保留
+  uint8_t reserved  :6;
+} dji_ext_origin;
+
+// 文件扩展数据——exif信息
+typedef struct {
+// exposure_time是否有效
+  uint8_t enable_exposure_time           :1;
+// fnumber是否有效
+  uint8_t enable_fnumber                 :1;
+// exposure_program是否有效
+  uint8_t enable_exposure_program        :1;
+// iso是否有效
+  uint8_t enable_iso                     :1;
+// exposure_compensation是否有效
+  uint8_t enable_exposure_compensation   :1;
+// metering_mode是否有效
+  uint8_t enable_metering_mode           :1;
+// light_source是否有效
+  uint8_t enable_light_source            :1;
+// focal_length_35mm_format是否有效
+  uint8_t enable_focal_length_35mm_format:1;
+// exposure_time分子
+  uint32_t exposure_time_num;
+// exposure_time分母
+  uint32_t exposure_time_den;
+// fnumber分子
+  uint32_t fnumber_num;
+// fnumber分母
+  uint32_t fnumber_den;
+// exposure_program
+  uint16_t exposure_program;
+// iso
+  uint16_t iso;
+// exposure_compensation分子
+  int32_t exposure_compensation_num;
+// exposure_compensation分母
+  int32_t exposure_compensation_den;
+// metering_mode
+  uint16_t metering_mode;
+// light_source
+  uint16_t light_source;
+// focal_length_35mm_format
+  uint16_t focal_length_35mm_format;
+} dji_ext_exif;
+
+// 文件列表扩展数据——视频杂项信息
+typedef struct {
+// 分段视频子索引
+  uint16_t seg_idx;
+// 视频时长（毫秒单位）
+  uint32_t video_time_in_ms;
+  union
+  {
+// 当视频类型为1 = 延时视频，或视频类型为5（hyperlapse）且视频子类型是0（hyperlapse with interval）时,  表示延时视频帧间隔（单位：100ms）
+    uint32_t video_timelapse_interval_100ms;
+// 当视频类型为5（hyperlapse），且视频子类型是1（hyperlapse with speed ratio）时，表示hyperlapse视频倍速值
+    uint32_t video_hyperlapse_speed_ratio;
+// 其他视频类型时， 此字段保留
+    uint32_t reserved;
+  };
+} dji_ext_misc_video;
+
+// 描述照片或者视频文件的来源，设置拍照或录像要保存的流请参考capture_recording_streams
+typedef struct
+{
+  // 文件来源
+  uint8_t file_source;	// enum-type: DJI_DCF_EXT_FILE_SOURCE
+  // 如果是相机原始照片，这里表明相机来源，不是原始照片时，值为0(DJI_DEFAULT_CAM)
+  uint8_t source_camera;	// enum-type: DJI_STREAM_SOURCE_CAMERA
+} dji_dcf_ext_file_source;
+// 飞机起飞时间
+
+typedef struct
+{
+  // 保留位
+  uint32_t reserved:5;
+  // 分
+  uint32_t minute  :6;
+  // 时
+  uint32_t hour    :5;
+  // 日
+  uint32_t day     :5;
+  // 月
+  uint32_t month   :4;
+  // 年（从1980年开始）
+  uint32_t year    :7;
+} dji_departure_time;
+
+// 自定义DCF文件信息
+typedef struct {
+// 用户标示信息
+  uint8_t customKey[8];
+// 自定义dcf文件来源
+  dji_dcf_ext_file_source dcf_ext_file_source;
+// 起飞时间
+  dji_departure_time departure_time;
+// 自定义dcf文件所在目录Index
+  uint8_t dcf_directory_index;
+// 自定义dcf文件文件Index
+  uint32_t dcf_file_index;
+// 自定义dcf文件所在集合Id
+  uint32_t dcf_file_setId;
+} dji_ext_customize_dcf_info;
+
+// 媒体文件文件名信息
+typedef struct {
+// 文件名长度
+  uint8_t file_name_len;
+// 文件名字符串（不包括空字符）
+  uint8_t file_name[1];
+} dji_ext_file_name;
+
+// 文件MD5值信息
+typedef struct {
+// MD5值校验，用于DJI Pilot 校验PSDK 自定义控件配置文件。DJI Pilot 会在本地缓存PSDK 自定义控件配置文件，如果MD5不一致才会重新拉取配置文件。
+  uint8_t file_md5[16];
+} dji_ext_file_md5;
+
+// 扩展数据描述符
+typedef struct {
+  // 扩展信息数据类型
+  uint8_t id;    // enum-type: DJI_FILE_LIST_EXT_TYPE
+  // 扩展信息数据内容
+  // ext_video_uuid : 视频UUID
+  // ext_p_tid : 照片类型和ID
+  // ext_star : 星标
+  // ext_v_tid : 视频类型信息
+  // ext_fusion : 合成照片Group信息
+  // ext_file_sync : 文件同步
+  // ext_origin : 原片信息
+  // ext_exif : EXIF信息
+  // ext_misc_video : 视频杂项信息
+  // ext_customize_dcf_info : 自定义DCF格式文件信息
+  // ext_file_name : 文件名信息
+  // ext_file_md5 : 文件MD5值校验
+  uint8_t data[1];
+} dji_ext_info_descriptor;
+
+// 文件列表扩展信息
+typedef struct {
+  // 扩展信息项，注意新增扩展信息项时必须从尾部开始添加
+  dji_ext_info_descriptor ext_info_item[1];
+  // 扩展数据结束标记。固定为'\0'
+  uint8_t eof;
+} dji_file_list_ext_info;
+
+// file create time
+typedef struct {
+  // 双秒（实际值 = 双秒 x 2）
+  uint32_t second:5;
+  // 分
+  uint32_t minute:6;
+  // 时
+  uint32_t hour  :5;
+  // 日
+  uint32_t day   :5;
+  // 月
+  uint32_t month :4;
+  // 年（从1980年开始）
+  uint32_t year  :7;
+} dji_file_create_time;
+
+// 文件列表信息描述符
+typedef struct {
+  // 文件的创建时间
+  dji_file_create_time create_time;
+  // 文件大小
+  uint32_t size;
+  // 文件索引
+  uint32_t index;
+  union {
+    struct video_attribute_type {
+      // 视频时长，单位（秒）
+      uint32_t attribute_video_duration  :16;
+      // 视频帧率
+      uint32_t
+          attribute_video_framerate :6;// enum-type: DJI_CAMERA_VIDEO_FRAME_RATE
+      // 视频旋转方向
+      uint32_t attribute_video_rotation  :2;// enum-type: DJI_MULTIMEDIA_ROTATE
+      // 视频分辨率
+      uint32_t
+          attribute_video_resolution:8;// enum-type: DJI_CAMERA_VIDEO_RESOLUTION
+    } video_attribute;
+    struct photo_attribute_type {
+      // 保留位
+      uint32_t attribute_photo_reserved:22;
+      // 照片旋转方向
+      uint32_t attribute_photo_rotation:2;	// enum-type: DJI_MULTIMEDIA_ROTATE
+      // 照片宽高比
+      uint32_t attribute_photo_ratio   :8;	// enum-type: DJI_CAMERA_PHOTO_RATIO
+    } photo_attribute;
+  } attribute;
+  // 文件类型
+  uint8_t type;    // enum-type: DJI_CAMERA_FILE_TYPE
+  // 扩展数据长度
+  uint8_t ext_size;
+  // 扩展数据内容，可以包含多项数据，每项数据包括数据类型（1字节）和数据内容（N字节）。
+  // 在最后一个扩展数据末尾添加1字节的’\0’结尾。
+  // 不同类型的文件的扩展数据长度保持一致，长度不足时在末端补’\0’。
+  dji_file_list_ext_info ext_data;
+} dji_list_info_descriptor;
+
+// 文件列表应答
+typedef struct {
+  // 文件总数
+  uint32_t amount;
+  // 文件列表信息长度，包括文件总数字段
+  uint32_t len;
+  // 文件列表信息描述符
+  dji_list_info_descriptor list_info[1];
+} dji_file_list_download_resp;
+
+// camera发给app的stream数据包的头信息。
+typedef struct {
+  // stream的格式
+  uint8_t format :6;    // enum-type: DJI_TRANS_STREAM_FORMAT
+  // 版本号
+  uint8_t version:2;
+  // 该数据所在的流文件Index
+  dji_file_index_t index;
+  // 时间戳，单位us
+  int64_t timestamp;
+  // 数据的长度，不包含本头信息
+  uint32_t length;
+  // 数据
+  uint8_t data[1];
+} dji_multi_stream_download_rsp;
+
+// 0x00 0x27 文件下载返回结构体定义
+typedef struct {
+  union {
+    // 文件列表应答数据
+    dji_file_list_download_resp file_list_download_rsp;
+    // 多类型流传输应答数据，单一码流无header信息（H264流）
+    dji_multi_stream_download_rsp multi_stream_download_rsp;
+    // 错误码
+    uint32_t abort_rsp;    // enum-type: DJI_DOWNLOAD_FILE_ABORT_ERROR_CODE
+  };
+} dji_download_file_ack_data;
+
+// 文件下载请求的ack，由相机向App发出
+typedef struct {
+  // 报文头长度
+  uint8_t header_length:6;
+  // 传输协议版本号
+  uint8_t version      :2;
+  // 传输协议类型
+  uint8_t func_id:5;    // enum-type: DJI_GENERAL_DOWNLOAD_FILE_FUNC_TYPE
+  // 子业务ID
+  uint8_t task_id:3;    // enum-type: DJI_GENERAL_DOWNLOAD_FILE_TASK_TYPE
+  // 报文总长度
+  uint16_t msg_length:12;
+  // 标志，最低位为1代表是最后一个包
+  uint16_t msg_flag  :4;
+  // 回话ID
+  uint16_t session_id;
+  // 报文在业务中的编号
+  uint32_t seq;
+  // 消息数据
+  // dji_download_file_ack_data : 返回数据定义
+  uint8_t data[1];
+} dji_general_transfer_msg_ack;
+/////////////(0x00,0x26) 相关结构体定义////////////
+
+#pragma pack()
+
+#endif //_DJI_FILE_INTERNAL_DEFINE_HPP_

osdk-lib/x86/osdk-core/inc/dji_mop_client.hpp

@@ -0,0 +1,112 @@
+/** @file dji_mop_client.hpp
+ *  @version 4.0
+ *  @date Jan 2020
+ *
+ *  @brief Implementation of the mop client
+ *
+ *  @Copyright (c) 2020 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.
+ *
+ */
+
+#ifndef DJI_MOP_CLIENT_HPP
+#define DJI_MOP_CLIENT_HPP
+
+#include "dji_mop_pipeline.hpp"
+#include "dji_mop_pipeline_manager_base.hpp"
+
+namespace DJI {
+namespace OSDK {
+
+// Forward Declarations
+class Vehicle;
+
+class MopClient : MopPipelineManagerBase {
+ public:
+  MopClient(SlotType slot);
+  ~MopClient();
+  /*! @brief Connect the target device by a pipelineid with properties of
+   * pipeline type. If success, a pipeline object will be created.
+   *  @note This is a blocking api
+   *  @param id The pipeline id which to be connected, ref to
+   * DJI::OSDK::MOP::PipelineID
+   *  @param type The pipeline type. It can be set to be RELIABLE or UBRELIABLE
+   *  ref to the enum DJI::OSDK::MOP::PipelineType
+   *  @param p The pointer of pipeline. If success, it will be pointed to be the
+   *  target pipeline object.
+   *  @return ref to the enum DJI::OSDK::MOP::MopErrCode
+   */
+  MopErrCode connect(PipelineID id, PipelineType type, MopPipeline *&p);
+
+  /*! @brief Connect the target device by a pipelineid with properties of
+   * pipeline type. If success, a pipeline object will be created.
+   *  @note This is a non-blocking api.
+   *  @todo This api is not implemented yet, it will be implemented in the
+   *  future.
+   *  @param id The pipeline id which to be connected, ref to
+   * DJI::OSDK::MOP::PipelineID
+   *  @param type The pipeline type. It can be set to be RELIABLE or UBRELIABLE
+   *  ref to the enum DJI::OSDK::MOP::PipelineType
+   *  @param cb Callback function defined by user
+   *  @arg @b errCode is the DJI::OSDK::MOP::MopErrCode error code
+   *  @arg @b p The pointer of pipeline. If success, it will be pointed to be the
+   *  target pipeline object.
+   *  @arg @b userData the interface to pass userData in when the callback is
+   * called
+   *  @param userData when UserCallBack is called, used in UserCallBack
+   */
+  void connect(PipelineID id, PipelineType type,
+               void (*cb)(MopErrCode errCode, MopPipeline *p,
+                          void *userData),
+               void *userData);
+
+  /*! @brief Disonnect the target device by a pipelineid.
+   *  @note This is a blocking api
+   *  @param id The pipeline id which to be connected, ref to
+   * DJI::OSDK::MOP::PipelineID
+   *  @return ref to the enum DJI::OSDK::MOP::MopErrCode
+   */
+  MopErrCode disconnect(PipelineID id);
+
+  /*! @brief Disonnect the target device by a pipelineid.
+   *  @note This is a non-blocking api
+   *  @todo This api is not implemented yet, it will be implemented in the
+   *  future.
+   *  @param id The pipeline id which to be connected, ref to the enum
+   *  @param cb Callback function defined by user
+   *  @arg @b errCode is the DJI::OSDK::MOP::MopErrCode error code
+   *  @arg @b userData the interface to pass userData in when the callback is
+   * called
+   *  @param userData when UserCallBack is called, used in UserCallBack
+   */
+  void disconnect(PipelineID id,
+                  void (*cb)(MopErrCode errCode, void *userData),
+                  void *userData);
+
+ private:
+  Vehicle *vehicle;
+  SlotType slot;
+};
+
+}
+}
+
+
+#endif //DJI_MOP_CLIENT_HPP

osdk-lib/x86/osdk-core/inc/dji_mop_define.hpp

@@ -0,0 +1,85 @@
+/** @file dji_mop_define.hpp
+ *  @version 4.0
+ *  @date Jan 2020
+ *
+ *  @brief Enumeration of all mop data types, structures.
+ *
+ *  @Copyright (c) 2020 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.
+ *
+ */
+
+#ifndef DJI_MOP_DEFINE_HPP
+#define DJI_MOP_DEFINE_HPP
+
+#include "mop_entry_osdk.h"
+#include "dji_log.hpp"
+
+/*!
+ * Top-level namespace
+ */
+namespace DJI {
+/*!
+ * Onboard SDK related commands
+ */
+namespace OSDK {
+/*! @brief This namespace encapsulates all available telemetry topics through
+ * either
+ * Broadcast or Subscribe
+ */
+namespace MOP {
+
+typedef enum MopErrCode {
+  MOP_PASSED,
+  MOP_FAILED,
+  MOP_CRC,
+  MOP_PARM,
+  MOP_NOMEM,
+  MOP_NOTREADY,
+  MOP_SEND,
+  MOP_RECV,
+  MOP_TIMEOUT,
+  MOP_RESBUSY,
+  MOP_RESOCCUPIED,
+  MOP_CONNECTIONCLOSE,
+  MOP_NOTIMPLEMENT,
+  MOP_UNKNOWN_ERR,
+} MopErrCode;
+
+typedef enum {
+  RELIABLE,
+  UNRELIABLE,
+} PipelineType;
+
+typedef enum SlotType {
+  SLOT_0 = 0,
+  SLOT_1 = 1,
+  SLOT_2 = 2,
+} SlotType;
+
+/*! User define the pipeline in the range of uint16_t */
+typedef uint16_t PipelineID;
+
+MopErrCode getMopErrCode(int ret);
+
+}
+}
+}
+#endif // DJI_MOP_DEFINE_HPP

osdk-lib/x86/osdk-core/inc/dji_mop_pipeline.hpp

@@ -0,0 +1,67 @@
+
+/** @file dji_mop_pipeline.hpp
+ *  @version 4.0
+ *  @date January 2020
+ *
+ *  @brief Implementation of mop pipeline
+ *
+ *  @Copyright (c) 2020 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.
+ *
+ */
+#ifndef DJI_MOP_PIPELINE_HPP
+#define DJI_MOP_PIPELINE_HPP
+
+#include <stdint.h>
+#include "dji_mop_define.hpp"
+
+using namespace DJI::OSDK;
+using namespace DJI::OSDK::MOP;
+
+namespace DJI {
+namespace OSDK {
+class MopPipeline {
+ public:
+  MopPipeline(PipelineID id, PipelineType type);
+
+  ~MopPipeline();
+
+  typedef struct DataPackType {
+    uint8_t* data;
+    uint32_t length;
+  } DataPackType;
+
+ public:
+
+  MopErrCode sendData(DataPackType dataPacket, uint32_t *len);
+
+  MopErrCode recvData(DataPackType dataPacket, uint32_t *len);
+
+  void *channelHandle;
+
+ private:
+  PipelineID id;
+  PipelineType type;
+
+};
+}  // namespace OSDK
+}  // namespace DJI
+
+#endif  // DJI_MOP_PIPELINE_HPP

osdk-lib/x86/osdk-core/inc/dji_mop_pipeline_manager_base.hpp

@@ -0,0 +1,63 @@
+
+/** @file dji_mop_pipeline_manager_base.hpp
+ *  @version 4.0
+ *  @date January 2020
+ *
+ *  @brief Implementation of mop pipeline manager base
+ *
+ *  @Copyright (c) 2020 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.
+ *
+ */
+#ifndef DJI_MOP_PIPELINE_MANAGER_BASE_HPP
+#define DJI_MOP_PIPELINE_MANAGER_BASE_HPP
+
+#include "dji_mop_define.hpp"
+#include "dji_mop_pipeline.hpp"
+#include "dji_log.hpp"
+#include <map>
+
+using namespace DJI::OSDK;
+using namespace DJI::OSDK::MOP;
+
+using namespace std;
+
+/*! TODO:ugly code, will be fixed in the future */
+extern map<PipelineID, MopPipeline*> pipelineMap;
+
+namespace DJI {
+namespace OSDK {
+class MopPipelineManagerBase {
+ public:
+  MopPipelineManagerBase();
+
+  ~MopPipelineManagerBase();
+
+  /*! TODO:MSDK 单单create的这种写法指代不明,在这个接口加上了"Pipeline"后缀 */
+  MopErrCode create(PipelineID id, MopPipeline *&p);
+
+  /*! TODO:MSDK 单单create的这种写法指代不明,在这个接口加上了"Pipeline"后缀 */
+  MopErrCode destroy(PipelineID id);
+
+};
+}  // namespace OSDK
+}  // namespace DJI
+
+#endif  // DJI_MOP_PIPELINE_MANAGER_BASE_HPP

osdk-lib/x86/osdk-core/inc/dji_mop_server.hpp

@@ -0,0 +1,75 @@
+/** @file dji_mop_server.hpp
+ *  @version 4.0
+ *  @date Jan 2020
+ *
+ *  @brief Implementation of the mop client
+ *
+ *  @Copyright (c) 2020 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.
+ *
+ */
+
+#ifndef DJI_MOP_SERVER_HPP
+#define DJI_MOP_SERVER_HPP
+
+#include "dji_mop_pipeline.hpp"
+#include "dji_mop_pipeline_manager_base.hpp"
+
+namespace DJI {
+namespace OSDK {
+
+// Forward Declarations
+class Vehicle;
+
+class MopServer : MopPipelineManagerBase {
+ public:
+  MopServer();
+  ~MopServer();
+
+  /*! @brief Accept the connecting request from target device with properties of
+   * a pipelineid and pipeline type. If success, a pipeline object will be
+   * created.
+   *  @note This is a blocking api
+   *  @param id The pipeline id which to be connected, ref to
+   * DJI::OSDK::MOP::PipelineID
+   *  @param type The pipeline type. It can be set to be RELIABLE or UBRELIABLE
+   *  ref to the enum DJI::OSDK::MOP::PipelineType
+   *  @param p The pointer of pipeline. If success, it will be pointed to be the
+   *  target pipeline object.
+   *  @return ref to the enum DJI::OSDK::MOP::MopErrCode
+   */
+  MopErrCode accept(PipelineID id, PipelineType type, MopPipeline *&p);
+
+  /*! @brief Close the target pipeline by a pipelineid.
+   *  @note This is a blocking api
+   *  @param id The pipeline id which to be connected, ref to
+   * DJI::OSDK::MOP::PipelineID
+   *  @return ref to the enum DJI::OSDK::MOP::MopErrCode
+   */
+  MopErrCode close(PipelineID id);
+ private:
+  Vehicle *vehicle;
+};
+
+}
+}
+
+
+#endif //DJI_MOP_SERVER_HPP

osdk-lib/x86/osdk-core/inc/dji_psdk_manager.hpp

@@ -103,6 +103,17 @@ class PSDKManager {
                                                bool &enable);
 
  public:
+  /*! @brief Get the mop client object of the target psdk module.
+   *
+   *  @param index payload node index, input limit see enum
+   * DJI::OSDK::PayloadIndexType
+   *  @param mopClient If this api called successfully, this pointer will point
+   *  to the mop client object of target psdk module.
+   *  @return ErrorCode::ErrorCodeType error code
+   */
+  ErrorCode::ErrorCodeType getMopClient(
+      PayloadIndexType index, MopClient *&mopClient);
+
   /*! @brief Sample to configure the value, blocking
    *
    *  @param index payload node index, input limit see enum

osdk-lib/x86/osdk-core/inc/dji_psdk_module.hpp

@@ -32,6 +32,9 @@
 #include <vector>
 #include "dji_payload_base.hpp"
 #include "dji_payload_link.hpp"
+#if defined(__linux__)
+#include "dji_mop_client.hpp"
+#endif
 
 namespace DJI {
 namespace OSDK {
@@ -115,6 +118,11 @@ class PSDKModule : public PayloadBase {
 
   ~PSDKModule();
 
+ public:
+#if defined(__linux__)
+  /*! @breif Get the object of the mop client of this psdk module */
+  MopClient *getMopClient();
+#endif
   /*! @brief Sample to configure the value, blocking
    *
    *  @param widgetIndex the index of target widget
@@ -200,7 +208,9 @@ class PSDKModule : public PayloadBase {
 
  private:
   static const int maxSize = 32;
-
+#if defined(__linux__)
+  MopClient *mopClient;
+#endif
   PayloadLink *payloadLink;
 
   /*! @brief handler to decoding the widget values raw data from raw data

osdk-lib/x86/osdk-core/inc/dji_vehicle.hpp

@@ -59,6 +59,9 @@
 #ifdef ADVANCED_SENSING
 #include "dji_advanced_sensing.hpp"
 #endif
+#if defined(__linux__)
+#include "dji_mop_server.hpp"
+#endif
 
 namespace DJI
 {
@@ -116,6 +119,11 @@ public:
   PSDKManager*         psdkManager;
   GimbalManager*       gimbalManager;
   DJIHMS*              djiHms;
+
+#if defined(__linux__)
+  MopServer*           mopServer;
+#endif
+
 #ifdef ADVANCED_SENSING
   AdvancedSensing* advancedSensing;
 #endif
@@ -282,6 +290,9 @@ public:
   bool initPSDKManager();
   bool initGimbalManager();
   bool initDJIHms();
+#if defined(__linux__)
+  bool initMopServer();
+#endif
   bool initOSDKHeartBeatThread();
 #ifdef ADVANCED_SENSING
   bool initAdvancedSensing();

osdk-lib/x86/osdk-core/inc/downloadbufferqueue.h

@@ -0,0 +1,77 @@
+//
+//  downloadbufferqueue.h
+//  djisdk
+//
+//  Created by husong on 12/27/17.
+//
+//
+
+#ifndef downloadbufferqueue_h
+#define downloadbufferqueue_h
+
+#include <stdio.h>
+#include <condition_variable>
+#include <list>
+#include <memory>
+#include <mutex>
+
+namespace DJI {
+namespace OSDK {
+typedef struct DJIDataPointer {
+    void* data;
+    int length;
+} DataPointer;
+
+class DownloadBufferQueue final {
+public:
+  typedef enum InsertRetType {
+    INSERT_SUCCESS = 0,
+    INSERT_FAIL_FULL,
+    INSERT_FAIL_INVALID_PARAM,
+    INSERT_FAIL_MEMORY_USED,
+    INSERT_FAIL_UNKOWN,
+  } InsertRetType;
+
+    DownloadBufferQueue() = default;
+    virtual ~DownloadBufferQueue() = default;
+
+    DownloadBufferQueue(const DownloadBufferQueue& other) = delete;
+    DownloadBufferQueue(DownloadBufferQueue&& other) = delete;
+    DownloadBufferQueue& operator=(const DownloadBufferQueue& other) = delete;
+    DownloadBufferQueue& operator=(DownloadBufferQueue&& other) = delete;
+
+    bool InitBufferQueue(int size, int start_index);
+
+    bool FindBlockByIndex(int index);
+    InsertRetType InsertBlock(const uint8_t *data, uint32_t data_length, int index, bool flag);
+
+    DataPointer DequeueBuffer();
+    std::list<DataPointer> DequeueAllBuffer();
+    int GetConfirmSeq();
+    int GetBufMaxSeq();
+    int GetSize() {
+        return m_size;
+    };
+
+    void Clear();
+    void Dealloc();
+
+private:
+    mutable std::mutex m_mutex;
+    std::condition_variable m_data_condition;
+    DataPointer* m_queue_ptr = nullptr;
+
+    // 确认收到并缓存最大index
+    int m_buf_max_index;
+    // 期待接受的index， 即确认收到连续序列index + 1
+    int m_expect_index;
+    // 期待接受的index对应的Buf数组下标
+    int m_head;
+    // Buffer 的大小
+    int m_size;
+};
+}  // namespace OSDK
+
+}  // namespace DJI
+
+#endif /* downloadbufferqueue_h */

osdk-lib/x86/osdk-core/inc/mop_entry_osdk.h

@@ -0,0 +1,35 @@
+/*************************************************************************
+ > File Name: mop_entry_osdk.h
+ > Author:pakchoi.zhang@dji.com
+ > Created Time: Mon 09 Dec 2019 12:09:58 PM CST
+************************************************************************/
+
+#ifndef  __MOP_ENTRY_OSDK_H__
+#define __MOP_ENTRY_OSDK_H__
+
+#include <stdint.h>
+
+#define MOP_ENTRY_LOGF(format, ...) \
+                        MOP_LOGF("MOP_ENTRY:" format, ##__VA_ARGS__)
+#define MOP_ENTRY_LOGE(format, ...) \
+                        MOP_LOGE("MOP_ENTRY:" format, ##__VA_ARGS__)
+#define MOP_ENTRY_LOGW(format, ...) \
+                        MOP_LOGW("MOP_ENTRY:" format, ##__VA_ARGS__)
+#define MOP_ENTRY_LOGI(format, ...) \
+                        MOP_LOGI("MOP_ENTRY:" format, ##__VA_ARGS__)
+#define MOP_ENTRY_LOGT(format, ...) \
+                        MOP_LOGT("MOP_ENTRY:" format, ##__VA_ARGS__)
+#define MOP_ENTRY_LOGV(format, ...) \
+                        MOP_LOGV("MOP_ENTRY:" format, ##__VA_ARGS__)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int32_t mop_osdk_init(void);
+int32_t mop_osdk_deinit(void);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

sample/platform/linux/advanced-sensing/stereo_vision_depth_perception_sample/m300_front_stereo_param.yaml

@@ -0,0 +1,41 @@
+%YAML:1.0
+leftCameraIntrinsicMatrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 488.722778, 0.000000, 322.502625, 0.000000, 488.722778, 241.705963, 0.000000, 0.000000, 1.000000 ]
+rightCameraIntrinsicMatrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 488.722778, 0.000000, 322.502625, 0.000000, 488.722778, 241.705963, 0.000000, 0.000000, 1.000000 ]
+leftDistCoeffs: !!opencv-matrix
+   rows: 5
+   cols: 1
+   dt: d
+   data: [0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ]
+rightDistCoeffs: !!opencv-matrix
+   rows: 5
+   cols: 1
+   dt: d
+   data: [0.000000, 0.000000, 0.000000, 0.000000, 0.000000 ]
+leftRectificationMatrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ]
+rightRectificationMatrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 ]
+leftProjectionMatrix: !!opencv-matrix
+   rows: 3
+   cols: 4
+   dt: d
+   data: [ 488.722778, 0.000000, 322.502625, 0.000000, 0.000000, 488.722778, 241.705963, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000 ]
+rightProjectionMatrix: !!opencv-matrix
+   rows: 3
+   cols: 4
+   dt: d
+   data: [ 488.722778, 0.000000, 322.502625, -99.072990, 0.000000, 488.722778, 241.705963, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000 ]