new:config tool refactor and open source

Config tool refactor and open source

sample/platform/linux/CMakeLists.txt

@@ -134,6 +134,12 @@ endif ()
 #if(WAYPT2_CORE)
 #endif()
 
+if (CONFIG_TOOL)
+    message("\n-- Rebuild the config tool")
+    add_subdirectory(config_tool)
+else()
+    message("\n-- You can cmake with \"-DCONFIG_TOOL=ON\" to rebuild the config tool.")
+endif()
 
 #add_subdirectory(camera-gimbal)
 add_subdirectory(flight-control)

sample/platform/linux/common/dji_linux_helpers.cpp

@@ -153,7 +153,7 @@ LinuxSetup::setupEnvironment(int argc, char** argv)
       acm_device_path = argv[i];
       break;
     }
-    printf("argv[%d] = %s\n", i, argv[i]);
+
     if (strlen(argv[i]) == 1)
     {
       std::cout << "Find sample case parameter : " <<  argv[i] << std::endl;

sample/platform/linux/config_tool/CMakeLists.txt

@@ -0,0 +1,44 @@
+# *  @Copyright (c) 2016-2017 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.
+# *
+# *
+cmake_minimum_required(VERSION 2.8)
+project(config_tool)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0 -Wall -Werror")
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../../../core/inc)
+
+FILE(GLOB SOURCE_FILES
+        ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_environment.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_helpers.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/src/*.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../hal/*.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/../osal/*.c
+        )
+
+if (OSDK_HOTPLUG)
+    FILE(GLOB SOURCE_FILES ${SOURCE_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/../hal/hotplug/*.c)
+endif ()
+
+add_executable(MatriceSeries_ConfigTool
+        ${SOURCE_FILES})
+

sample/platform/linux/config_tool/config_tool.cpp

@@ -0,0 +1,320 @@
+/*! @file payloads/main_sync.cpp
+ *  @version 4.0.0
+ *  @date November 19 2020
+ *
+ *  @brief
+ *  main for CameraManager usage in a Linux environment.
+ *  Shows example usage of CameraManager synchronous APIs.
+ *
+ *  @Copyright (c) 2019 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 "config_tool.hpp"
+#include "dji_linker.hpp"
+
+ConfigTool::ConfigTool(Vehicle *vehicle) {
+  this->vehicle = vehicle;
+}
+
+ConfigTool::~ConfigTool() {
+}
+
+void show_usage(std::string name)
+{
+   std::cerr << "Usage: " << name.c_str() << " --usb-port <port_name> --config-file <file_name> <command> <action> <options>\n"
+             << "\t--help\t\t\t\tDisplay program commands and options\n"
+             << "\t--usb-port <port_name>\t\tUSB port supporting connection between M210/M300\n"
+             << "\t\t\t\t\tAdvanced Features channel and compute platform\n"
+             << "\t\t\t\t\tYou can set the port with \"acm_port : /dev/ttyACMx\" in your config-file.\n"
+             << "\t\t\t\t\tThis setting will cover the \"acm_port\" from the config-file(if exist).\n"
+             << "\t--config-file <file_name>\t\tUser configuration file\n"
+             << "\t--power-supply on/off\t\tSet power supply on the M210 extension board\n"
+             << "\t--usb-connected-flight on/off\tEnable/disable USB connected flight on M210.\n"
+             << "\t\t\t\t\tAfter OSDK 4.0, connected USB flight will be enabled automatically on \n"
+             << "\t\t\t\t\tinitialization for M210.\n"
+             << "\t--simulation on/off\t\tEnable/disable M210/M300 Aircraft simulation\n"
+             << "\tSimulation Options:\n"
+             << "\t--latitude <latitude_value>\n" 
+             << "\t--longitude <longitude_value>\n"
+             << std::endl;
+}
+
+bool ConfigTool::doProcessUSBCtrl(std::string activeAction)
+{
+  bool ctrlCmd = false;
+  if(activeAction.compare("on") == 0)
+  {
+    ctrlCmd = true;
+  }
+  else if(activeAction.compare("off") == 0)
+  {
+    ctrlCmd = false;
+  }
+  else
+  {
+    DERROR("Error: Unknown action given!\n");
+    return false;
+  }
+
+  return vehicle->setUSBFlightOn(ctrlCmd);
+}
+
+bool ConfigTool::doProcessPowerSupplyCtrl(std::string activeAction)
+{
+  if(activeAction.empty())
+  {
+    DERROR("Error: action not set!\n");
+    return false;
+  }
+
+  if (strncmp(vehicle->getHwVersion(), Version::M210V2, 5)
+      && strncmp(vehicle->getHwVersion(), Version::M210, 5)) {
+    DERROR("Power supply setting only for M210 series!\n");
+    return false;
+  }
+
+  ConfigTool::PowerSupplyData data;
+  memset(&data, 0, sizeof(data));
+
+  // Action: set power supply
+  data.action = 0;
+
+  if(activeAction.compare("on") == 0)
+  {
+    data.cmd = 1;
+  }
+  else if(activeAction.compare("off") == 0)
+  {
+    data.cmd = 0;
+  }
+  else
+  {
+    DERROR("Error: Unknown action given!\n");
+    return false;
+  }
+
+  T_CmdInfo cmdInfo = {0};
+  T_CmdInfo ackInfo = {0};
+  uint8_t cbData[1024] = {0};
+
+  cmdInfo.cmdSet = 0x19;
+  cmdInfo.cmdId = 0x02;
+  cmdInfo.dataLen = sizeof(data);
+  cmdInfo.needAck = OSDK_COMMAND_NEED_ACK_FINISH_ACK;
+  cmdInfo.packetType = OSDK_COMMAND_PACKET_TYPE_REQUEST;
+  cmdInfo.addr = GEN_ADDR(0, ADDR_V1_COMMAND_INDEX);
+  cmdInfo.receiver = OSDK_COMMAND_DEVICE_ID(0x04, 0x07);
+  cmdInfo.sender = vehicle->linker->getLocalSenderId();
+  DSTATUS("Trying to set power supply for M210 extension board as [%s]", data.cmd ? "enable" : "disable");
+  E_OsdkStat ret = vehicle->linker->sendSync(&cmdInfo,
+                                             (uint8_t *) &data,
+                                             &ackInfo,
+                                             cbData,
+                                             1000,
+                                             3);
+  if (ret == OSDK_STAT_OK) {
+    return true;
+  } else if (ret == OSDK_STAT_ERR_TIMEOUT) {
+    DERROR("Set timeout !");
+    return false;
+  } else {
+    DERROR("Set error !");
+    return false;
+  }
+}
+
+bool ConfigTool::doProcessSimulationCtrl(std::string GPSLatInDeg, 
+                                         std::string GPSLonInDeg, 
+                                         std::string activeAction)
+{
+  bool action = false;
+  if(activeAction.compare("on") == 0)
+  {
+    action = true;
+  }
+  else if(activeAction.compare("off") == 0)
+  {
+    action = false;
+  }
+  else
+  {
+    DERROR("Error: unknown simulation action!\n");
+    return false;
+  }
+
+  std::string::size_type sz;
+  double latitudeInDeg  = action ? std::stod(GPSLatInDeg, &sz) : 0;
+  double longitudeInDeg = action ? std::stod(GPSLonInDeg, &sz) : 0;
+
+  return vehicle->setSimulationOn(action, latitudeInDeg, longitudeInDeg);
+}
+
+int
+main(int argc, char** argv)
+{
+  if(argc < 5)
+  {
+    show_usage(argv[0]);
+    return 1;
+  }
+
+  // Setup OSDK.
+  LinuxSetup *linuxEnvironment = new LinuxSetup(argc, argv);
+  Vehicle *vehicle = linuxEnvironment->getVehicle();
+  if (vehicle == NULL) {
+    DERROR("Error: Vehicle not initialized!\n");
+    return 1;
+  }
+
+  std::vector<std::string> sources;
+  bool hasOption   = false;
+  bool isLatitude  = false;
+  bool isLongitude = false;
+  std::string activeCMD;
+  std::string gpsLatInDeg;
+  std::string gpsLonInDeg;
+
+  for (int i = 0; i < argc; i++) {
+    std::string arg = argv[i];
+
+    if (arg.compare("--help") == 0) {
+      show_usage(argv[0]);
+      return 0;
+    }
+
+    if ((arg.compare("--usb-port") == 0) ||
+        (arg.compare("--config-file") == 0)) {
+      if (i + 1 < argc) {
+        hasOption = true;
+        continue;
+      } else {
+        DERROR("%s option requires one argument.\n", arg.c_str());
+      }
+    } else if ((arg.compare("--power-supply") == 0) ||
+        (arg.compare("--usb-connected-flight") == 0) ||
+        (arg.compare("--simulation") == 0) ||
+        (arg.compare("--latitude") == 0) ||
+        (arg.compare("--longitude") == 0)) {
+      if (i + 1 < argc) {
+        hasOption = true;
+
+        if (activeCMD.compare("--simulation") != 0) {
+          activeCMD = arg;
+        }
+
+        if (arg.compare("--latitude") == 0) {
+          isLatitude = true;
+        } else if (arg.compare("--longitude") == 0) {
+          isLongitude = true;
+        }
+
+        continue;
+      } else {
+        DERROR("%s option requires one argument.\n", arg.c_str());
+      }
+    } else {
+      if (isLatitude) {
+        gpsLatInDeg = argv[i];
+        isLatitude = false;
+      } else if (isLongitude) {
+        gpsLonInDeg = argv[i];
+        isLongitude = false;
+      } else if (hasOption || i == 0) {
+        sources.push_back(argv[i]);
+      }
+      hasOption = false;
+    }
+  }
+
+  std::string configFile = "";
+  std::string usbPort = linuxEnvironment->getEnvironment()->getDeviceAcm();
+  std::string activeAction;
+  std::string subStr("/dev/tty");
+
+  for (uint32_t i = 0; i < sources.size(); i++) {
+    std::ifstream ifs(argv[i]);
+    if (ifs.is_open() && sources[i].find(subStr) == std::string::npos && (configFile == "")) {
+      configFile = sources[i];
+    } else if (sources[i].compare("on") == 0 ||
+        sources[i].compare("off") == 0) {
+      activeAction = sources[i];
+    } else if (sources[i].find(subStr) != std::string::npos) {
+      usbPort = sources[i];
+    }
+  }
+
+  if (configFile.empty() ||
+      usbPort.empty() ||
+      activeAction.empty()) {
+    DERROR("Error parsing your parameters! See --help option.\n");
+    return 1;
+  }
+
+  // Initialize variables
+  int functionTimeout = 1;
+  char _func[100];
+
+  // Obtain Control Authority
+  ACK::ErrorCode ack = vehicle->control->obtainCtrlAuthority(functionTimeout);
+  ACK::getErrorCodeMessage(ack, _func);
+
+  ConfigTool* configTool = new ConfigTool(vehicle);
+  if(configTool == 0)
+  {
+    DERROR("Error creating Config Tool! Check your USB port\n");
+    return 1;
+  }
+
+  if(activeCMD.compare("--usb-connected-flight") == 0)
+  {
+    if(!configTool->doProcessUSBCtrl(activeAction))
+    {
+      DERROR("Error processing command\n");
+      return 1;
+    }
+  }
+  else if(activeCMD.compare("--power-supply") == 0)
+  {
+    if(!configTool->doProcessPowerSupplyCtrl(activeAction))
+    {
+      DERROR("Error processing command\n");
+      return 1;
+    }
+  }
+  else if(activeCMD.compare("--simulation") == 0)
+  {
+    if(activeAction.compare("on") == 0 && (gpsLatInDeg.empty() || gpsLonInDeg.empty()))
+    {
+      DERROR("Error: latitude or longitude options not set!\n");
+      return 1;
+    }
+
+    if(!configTool->doProcessSimulationCtrl(gpsLatInDeg, gpsLonInDeg, activeAction))
+    {
+      DERROR("Error processing command\n");
+      return 1;
+    }
+  }
+
+  delete (configTool);
+  return 0;
+}

sample/platform/linux/config_tool/config_tool.hpp

@@ -0,0 +1,110 @@
+/*! @file config_tool.hpp
+ *  @version 3.4.0
+ *  @date September 5 2017
+ *
+ *  @brief
+ *  Advanced control program allows for extra commands to
+ *  to enable/disable USB connected flight, control power
+ *  on the extension board and simulation.
+ *
+ *  @copyright
+ *  2016-17 DJI. All rights reserved.
+ * */
+
+#ifndef CONFIG_TOOL_HPP
+#define CONFIG_TOOL_HPP
+
+#include "dji_vehicle.hpp"
+#include "dji_log.hpp"
+#include <iostream>
+#include <dji_linux_helpers.hpp>
+#include <vector>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+using namespace DJI::OSDK;
+
+class UtilityThread;
+
+class ConfigTool
+{
+public:
+  ConfigTool(Vehicle *vehicle);
+  ~ConfigTool();
+
+  bool doProcessPowerSupplyCtrl(std::string activeAction);
+  bool doProcessUSBCtrl(std::string activeAction);
+  bool doProcessSimulationCtrl(std::string GPSLatInDeg,
+                               std::string GPSLonInDeg,
+                               std::string activeAction);
+
+#pragma pack(1)
+  typedef struct USBCtrlData
+  {
+    uint16_t version;
+    uint8_t  cmd;
+  } USBCtrlData;
+
+  typedef struct PowerSupplyData
+  {
+    uint8_t action;
+    uint8_t cmd;
+  } PowerSupplyData;
+
+  typedef struct SimulationData
+  {
+    uint8_t	cmd;
+    uint8_t	rc : 1;
+    uint8_t	model : 1;
+    uint8_t	resv : 6;
+    uint8_t	freq;
+    uint8_t	gps;
+    double	lon;
+    double	lat;
+    double	height;
+    uint8_t	roll : 1;
+    uint8_t	pitch : 1;
+    uint8_t	yaw : 1;
+    uint8_t	x : 1;
+    uint8_t	y : 1;
+    uint8_t	z : 1;
+    uint8_t	lati : 1;
+    uint8_t	longti : 1;
+    uint8_t	speed_x : 1;
+    uint8_t	speed_y : 1;
+    uint8_t	speed_z : 1;
+    uint8_t	acc_x : 1;
+    uint8_t	acc_y : 1;
+    uint8_t	acc_z : 1;
+    uint8_t	p : 1;
+    uint8_t	q : 1;
+    uint8_t	r : 1;
+    uint8_t	rpm1 : 1;
+    uint8_t	rpm2 : 1;
+    uint8_t	rpm3 : 1;
+    uint8_t	rpm4 : 1;
+    uint8_t	rpm5 : 1;
+    uint8_t	rpm6 : 1;
+    uint8_t	rpm7 : 1;
+    uint8_t	rpm8 : 1;
+    uint8_t	duration : 1;
+    uint8_t	led_color : 1;
+    uint8_t	transform_state : 1;
+    uint32_t	resv1 : 4;
+    uint32_t	reserve;
+  } SimulationData; 
+#pragma pack()
+
+  enum SIMULATION_ERROR_CODES
+  {
+    BEGIN_SIMULATED_FLIGHT_SUCCESS = 3,
+    STOP_SIMULATED_FLIGHT_SUCCESS  = 5,
+    BEGIN_SIMULATED_FLIGHT_ERROR   = 6,
+    STOP_SIMULATED_FLIGHT_ERROR	   = 8
+  };
+ private:
+  Vehicle *vehicle;
+};
+
+#endif /* CONFIG_TOOL_HPP */
+

utility/ReadMe.md

@@ -0,0 +1,8 @@
+## DJI Onboard SDK Config tool
+
+DJI config tool has been renamed "MatriceSeries_ConfigTool" from "M210ConfigTool". 
+Where we provide the source code of the implementation in the project, the specific 
+address is in "Onboard-SDK/sample/platform/linux/config_tool".
+
+When building the project, you can run "cmake .. -DCONFIG_TOOL=ON" to cover the 
+building of the config tool.